• Chapter 1 Introduction and Literature Survey
  • 1.1 Exoskeleton concept
  • 1.2 Exoskeleton background
    • 1.2.1 DARPA Program Exoskeletons
      • 1.2.1.1 Berkeley Exoskeleton (BLEEX)
      • 1.2.1.2 Sarcos Exoskeleton
      • 1.2.1.3 MIT Exoskeleton
    • 1.2.2 Other Lower Extremity Exoskeletons
      • 1.2.2.1 Hybrid Assistive Leg
      • 1.2.2.2 Nurse-Assisting Exoskeleton
      • 1.2.2.3 RoboKnee
    • 1.2.3 Several Full Lower Limbs Exoskeletal Systems
      • 1.2.3.1 Mihailo Pupin Institute Exoskeletons
      • 1.2.3.2 University of Wisconsin Exoskeleton
  • 1.3 Thesis Overview
• Chapter 2
  • 2.1 Introduction
  • 2.2 Biological joints
  • 2.3 Range of Motion and Degrees of Freedom of Joints
  • 2.4 Which joints should be actuated?
  • 2.5 Different types of actuators
    • 2.5.1 Hydraulic actuators
    • 2.5.2 Electric actuators
      • 2.5.2.1 Electric joint cooling
    • 2.5.3 Comparison of the joint weight and power consumption
    • 2.5.4 Series Elastic actuator
      • 2.5.4.1 Linear Series Elastic Actuator
      • 2.5.4.2 Bowden cable Series Elastic Actuator
      • 2.5.4.3 Rotary Series Elastic Actuator with bevel gears
  • 2.6 Several related works
    • 2.6.1 The Berkeley’s lower extremity exoskeleton (BLEEX)
  • 2.7 Comparison of different exoskeletal systems
  • 2.8 Conclusions
• Chapter 3
• Biomechanical Framework for muscle power analysis
  • 3.1 Introduction
  • 3.2 Musculoskeletal system
  • 3.3 Muscle power analysis
  • 3.4 Appropriate criterion for actuator design
    • 3.4.1 Maximum power criterion
    • 3.4.2 Maximum torque criterion
  • 3.5 Conclusions
• Chapter 4
• Mechanical design of exoskeletal system components
  • 4.1 Introduction
  • 4.2 Definitions
  • 4.3 Mechanical design of components for the hip, knee and ankle joints
    • 4.3.1 Design of the joint actuators
      • 4.3.1.1 Motor selection
      • 4.3.1.2 Actuators’ spring selection
      • 4.3.1.3 Selection of coupling, LVDT, and bearings
    • 4.3.2 CAM mechanism
      • 4.3.2.1 Cam mechanism Design
      • 4.3.2.2 Bearings selection
      • 4.3.2.3 Hip abduction spring selection
    • 4.3.3 Unactuated spring selection
  • 4.4 Mechanism of length’s adjustment
  • 4.5 Conclusions
• Chapter 5
• Conclusion and Future works

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