Abstract:
The rehabilitation robot technology is new application in medical field which
help people who suffer paralysis caused by disease or limp movement disorder.
People suffering from paralysis do not have better chances of employment, family
and social life; also it has negative Psychological impact on patient. As an Engineer it
is our responsibility to use our knowledge and engineering skills to help those people.
Exoskeletons can act as a substitute for these people. In this thesis a Lower Limb
Exoskeleton is being proposed. This proposed idea will lead to new prospect of
research.
The objective of thesis was to do complete literature review about Lower
Limb exoskeletons. Kinematic and Dynamic analysis of the proposed lower limb
exoskeleton has been performed. Joint angles have been computed using the Inverse
kinematics; expressions of torques required for the actuators have also been computed
using lagrangian formulation technique. Main focus was on kinematics and design of
the exoskeleton rather than its control.
Design and kinematics of lower limb exoskeleton will be available for future
students so that they can carry forward the result. Structure designing and control
implementation will be the steps required to take this research towards a product.
