Abstract:
This project is of a unique nature and aims to addresses the industrial problem of creating
a low cost and low weight assistive exoskeleton that can provide user with load lifting
capability for a mass of about 20kg. The approach for this was to first conduct a thorough
literature review where a number of past problems were studied to refine our problem
statement and study the methodologies adopted. Numerous actuation methods are
considered before electronic motors being chosen as the final method followed by a
rigorous motor selection process. The exoskeleton and the brace also form a key part of the
structure which were modelled using CAD software as well as a complete kinematic and
mathematical model was created using MATLAB. A thorough FEM analysis was run on
them to ensure and optimize the structural integrity of the design. The material of the device
is also selected as a part of the analysis procedure. The electrical system for the system is
also designed and tested. These various subsystems after design and optimization are
integrated into the final prototype design. This design ultimately provides an excellent
human assistive exoskeleton solution.
