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Design and Manufacturing of an Exoskeleton Mechanism for Lower Limbs with Active and Semi-Passive Joints According to Biomechanical Principles

Shariat, Afshin | 2015

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 47123 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Zohoor, Hassan; Firoozbakhsh, Keikhosrow; Vossoughi, Gholamreza
  7. Abstract:
  8. Today, people living in all over the world are faced with the arrival of Biomechanics and Human need of rehabilitation equipment is growing. Wearable robots have created a new field in service robots’ world. Unlike industrial robots, these robots are strongly interacting with humans. Physical interaction between humans and robots considered one of the exciting and challenging research topics. With attention to this issue, research projects have been started in the department of mechanical engineering of Sharif University of technology to design, manufacture and control a wearable robot with few degrees of freedom used in the lower joints. In this thesis, initially focused on the conceptual design of the robot and its application. The main purpose of this robot is create a research platform for studies in the field of synergies for healthy people and rehabilitation for patients and elderly. On the other hand, this robot is a machine to run and test some algorithm controls at laboratory level. According to these applications, the number of degrees of freedom, drive systems and mechanisms in joints have been selected. Then, according to the kinematics and kinetics of normal human gait, torque and range of motion of joints required in the robot calculated and then, the type of actuators has been selected and Power transmission system was developed. Simulation mechanisms at each joint has been done and kinematic mechanism due to lower extremity kinematics and kinetics during walking according to the torque exerted by the actuator, was evaluated. General layout of the sensors, actuators, and the mechanism of change links’ Length, even bolts and washers designed in modeling software. After finalization of the design, manufacturing and assembly drawings are extracted and of some of the components used were purchased. Finally, project has entered into phase of construction and assembly that was carried out with the help of other members of the group
  9. Keywords:
  10. Exoskeleton ; Rehabilitation ; Wearable Assistive Device ; Lower Joint Mechanism

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