Development of Lower Limb Exoskeleton with Feedback

Abstract

In regions with limited advancements in assistive technology, especially Pakistan, individuals with mobility impairments face substantial challenges that significantly hinder their independence and quality of life. To address this issue, this thesis proposes the development of an innovative Lower Limb Exoskeleton with Feedback, focusing on enhancing mobility and accessibility for individuals with such impairments. Our objective is to create an affordable, anatomically correct exoskeleton that incorporates a feedback system for closed-loop control, ensuring user comfort and stability during movement and rehabilitation. The mechanical design of the exoskeleton aims for adjustability, natural walking, and efficient actuation, with specific pilot specifications considered for ergonomic comfort. Data for the project is acquired through IMU sensors, with a focus on gait analysis and sensor fusion techniques. An RNN-LSTM model is employed to predict gait patterns and provide actuation for the exoskeleton, with an emphasis on waveform regression and real-time feedback generation. The project is motivated by the pressing need to promote independence, reduce reliance on imported assistive devices, and inspire innovation in our community. The outcome of this project aims to contribute to the Sustainable Development Goals (SDGs) by improving health and well-being, reducing inequalities, and fostering inclusive communities