Modeling of a Novel Lower Limb Exoskeleton System for Paraplegic Patients
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This paper presents the design of a novel low-cost motorized wheelchair exoskeleton device to provide locomotive assistance and physical rehabilitation to paraplegic patients in the age group of 20–75 years. CAD modeling of different parts of the device has been completed using SOLIDWORKS software. Mathematical calculations are performed to estimate the torque requirements to drive rear wheels, and maximum torque requirement at knees in static condition. Static structural analysis of different parts of the mechanism is performed using ANSYS software for optimization and validation of the proposed design. The reduction in the overall mass of the mechanism is achieved by multi-use of actuators, where a single motor has been used for motion at more than one joints in the device. A mechanism is also designed to allow easy switching of power for the motors from one joint to the other. Further, to make the device eligible for use by people of different heights, adjustability in height of the mechanism has been achieved via the use of telescoping link mechanisms for legs of the device. The aim is to come up with a low-cost device which along with fulfilling the mobility requirements stays light, without compromising the strength and motion capabilities of the device.
KeywordsWheelchair exoskeleton Paraplegic Rehabilitation Locomotive assistance Structural analysis
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