Design and Analysis of Exoskeleton as a Rehabilitation Device

Abstract:

Exoskeleton is an external cantilever to support inner living organism organs. Some animals have the exoskeleton attached naturally on their body as those found in a million species of arthropods order. The word “Arthropods” itself are related to their body plan—their segmented body, hard exoskeleton, and jointed appendages [1]. This structure inspired us to implement the exoskeleton to help humans who are permanently or temporarily have problems with their lower limb, for example those who are recovering from stroke or road-accidents. Stroke is a condition where lower limb is partially paralyzed (Hemiplegia) and causes inability to walk normally or to do other physical activities [2].The exoskeleton consists of four main parts; frame for the leg (XOTF), frame for the thigh (XOF), the belt, and the controller stick. The frame is designed using lightweight material. Considering the material’s availability and price at the local market, we choose Aluminum Composite Panel (ACP) as frame’s material. The belt acts as the brain for the exoskeleton, where it provides electrical power and the source of motion. There are four frames on the exoskeleton which moves simultaneously while walking. In the design, we use two joy-sticks as main controller to adjust position of each exoskeleton frame. The sticks are attached to standing-canes which help the user to improve stability. The sticks have buttons and lever to control the exoskeleton and adjust thighs and legs fit for several moves; stand, sit, walk, going up and downstairs, or any other position which need balance and power.The exoskeleton design has been tested for its motion and stability. The results show that the design is suitable for those who are fully or partially paralyzed on their lower limb.

• Periodical: Applied Mechanics and Materials (Volume 842)
• Pages: 423-429
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.842.423
• Online since: June 2016
• Authors: Romario Aldrian Wicaksono*, Satriawan Dini Hariyanto, Panji Prihandoko, Gunawan Setia Prihandana, Tutik Sriani
• Keywords: Exoskeleton, Lower Limb, Partially Paralyzed, Rehabilitation Device, Stroke Recovery

References

[1] Reece, J. B., Urry, L. A., et al., Campbell Biology, ninth ed. USA: Pearson, (2011).

[2] Rajesh, Shah Mihir, Design of Human Exo-Skeleton Suit for Rehabilitation of Hemiplegic People, Procedia Engineering 51, Ahmedabad, India, (2013) 544 – 553.

DOI: 10.1016/j.proeng.2013.01.077

[3] Fleischer, Christian, Control Exoskeleton with EMG Signals and a Biomechanical Body Model. Berlin: Technische Universität Berlin, (2007).

[4] Beyl, Pieter, Design and control of a knee exoskeleton powered by pleated pneumatic artificial muscles for robot-assisted gait rehabilitation. Brussel: Vrije University Brussel, (2010).