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Reduction of Energy Consumption of Lower-Body Exoskeleton by Enhancing Human Body and Robot Kinematic Alignment

Norouzzadeh, Reza | 2018

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 51348 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Behzadipour, Saeed
  7. Abstract:
  8. Exoskeleton is a newborn technology for disabled people. Personal exoskeleton is a type that is suitable for replacement of wheelchair. Exoped, the first Iranian exoskeleton made by Pedasys company, was a rehabilitation one. The purpose of this research was enhancing the design of its actuators to accomplish lighter, smaller and cheaper one. At first we identified the different loads that are applied to actuators of exoskeleton and we tried to decrease the number of actuators needed, as more as possible. Then we modeled the exoskeleton-user system to measure the required parameters. Using this model, we conducted an algorithm to design appropriate gait cycle for walking with the help of crutches. Required parameters were measured based on this gait cycle. Next we applied known techniques to decrease the effect of kinematic misalignments on external loads applied to the actuators. At last we designed a new actuator to decrease internal loads applied to the actuators. The designed gait cycle decreased forces on user hands more than 40%. Also we were successful to decrease external and internal loads applied to actuators up to 20% and 50%. At last we designed actuators with half price of Exoped actuators. However, solving some other challenges were necessary to gather all the conditions needed to walk a disabled user by crutches
  9. Keywords:
  10. Exoskeleton Controller ; Exoskeleton ; Gait Trainer Device ; Assistive Devices ; Exoskeleton Actuator ; Gait Design ; Kinematic Misalignment

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