Paraplegics are a type of Spinal Cord Injury (SCI) disabled persons who need walking assistance for day-to-day mobility. Reciprocating Gait Orthosis (RGO) and Exoskeletons are widely used walking systems to support lower extremities for successful walking. Stability has been a major concern while designing such walking support systems. This research is an attempt to design an Exoskeleton with necessary walking stability based on humanoid bipedal robot. A parallel-serial chain, 25 axes of rotation, legs-only Exoskeleton named “Lower Extremity Exoskeleton Robot (LEE Robot)” was designed, modeled and simulated for walking stability using posture adjustment and the law of balance techniques. The actuator torque requirements were calculated and controlled by implementing Proportional Derivative (PD) controllers for posture adjustment and walking balance. The most widely used Zero Moment Point (ZMP) technique was implemented in the simulation to test the Exoskeleton walking to be in the stability zone. The LEE Robot is expected to provide hands free walking to the paraplegics. Therefore, an important feature of fall protection was implemented and tested with a conceptual framework which included fall detection, fall avoidance and fall protection. The fall protection was achieved by calculating the counter initial velocity of the swing foot end-effector and applying it as an input to the differential motion planning. Finally, the LEE Robot was analyzed for its structural strength using Finite Element Analysis (FEA) to assess the feasibility of realizing it as a useable device.
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|Advisor:||Gu, Edward Y.|
|Commitee:||Das, Manohar, Gu, Randy J., Spagnuolo, Anna Maria|
|School Location:||United States -- Michigan|
|Source:||DAI-B 81/7(E), Dissertation Abstracts International|
|Subjects:||Robotics, Electrical engineering, Mechanical engineering|
|Keywords:||Bipedal, Exoskeleton, Humanoid, Paraplegics, Robot, Walking|
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