EXOSKELETON ARM UNIT

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.