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Design of an Active Exoskeleton Robot to Assist Human Walking

Soltani Hekmat, Shima | 2016

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  1. Type of Document: M.Sc. Thesis
  2. Language: English
  3. Document No: 48572 (58)
  4. University: Sharif University of Technology, International Campus, Kish Island
  5. Department: Science and Engineering
  6. Advisor(s): Zohoor, Hassan; Selk Ghaffari, Ali
  7. Abstract:
  8. Walking is one of the most important physical activities in daily life and it plays an important role on body health. Despite the importance of this issue, today many people suffering from walking abnormalities. This thesis aims at designing an exoskeleton for the rehabilitation in order to help patient’s lower limb movement. The hip joint is crucial for walking and is problematic for a large number of aged people or the patients who suffered from paralysis. A number of hip and knee model checked, one model for knee and one for hip selected to combine in order to achieve a unique model for walking exoskeleton. A mechanism consisting of six link and seven joints with four degrees of freedom was selected as the walking model. The parallel and straight motion of the mechanism is the responsible for its good walking procedure simulation. The kinematics and dynamics developed based on biomechanics considerations. The angles, velocities and torques of the hip and knee joints studied in 3 dimensional planes to achieve the best accordance with real walking. The real walking trajectory and moment acquired in the laboratory using VICON cameras with 120 frames per second capturing speed and force plates. The simulation developed in MATLAB to evaluate the system performance. An optimization program investigated in order to maintain the links length which minimize the ankle trajectory error. The results show that the joints moments of the mechanism is in good accordance to the real walking joints moment. This mechanism reduces the knee power considerably
  9. Keywords:
  10. Exoskeleton ; Walking ; Walking Robot ; Exoskeleton

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