Design, development and model analysis of lower extremity Exo-skeleton.

Area of Science:

• Robotics
• Biomechanics
• Rehabilitation Engineering

Background:

• Exoskeleton technology has advanced significantly, with increasing applications in medical therapy and rehabilitation.
• Precise control and dynamic analysis are crucial for safe and effective exoskeleton functioning, especially for patient use.
• Understanding joint dynamics under various loads is essential for designing effective lower limb assistive devices.

Purpose of the Study:

• To perform dynamic analysis and torque calculation for a 2-degree-of-freedom lower limb exoskeleton.
• To determine actuator requirements for a wearable walking aid designed for patient rehabilitation.
• To develop trajectory planning for natural walking motion within safe angular limits.

Main Methods:

• Dynamic modeling of a 2-DOF lower limb exoskeleton system.
• Torque analysis to determine actuator selection criteria.
• Trajectory planning for a complete walking cycle with joint angle constraints.

Main Results:

• Calculated peak torque requirements: 52.055 Nm at the hip joint and 11.677 Nm at the knee joint.
• Developed a functional trajectory plan for the exoskeleton's walking motion.
• Established a basis for selecting appropriate actuators for rehabilitation purposes.

Conclusions:

• The dynamic analysis and torque calculations provide essential data for actuator selection in lower limb exoskeletons.
• Trajectory planning ensures safe and effective rehabilitation by mimicking natural walking within defined limits.
• This research contributes to the development of advanced wearable walking aids for patient recovery.