Development and kinematic analysis of robotic orthoses

• Main Author: Teng, Liek Yek.
• Other Authors: Hoon Kay Hiang
• Format: Final Year Project
• Language: English
• Published: 2009
• Subjects: DRNTU::Engineering::Mechanical engineering::Robots
• Online Access: http://hdl.handle.net/10356/17147
• Institution: Nanyang Technological University

Recent advances in robotic technology have led to the development of powered orthotic devices which can be used as rehabilitation aids. Robotic orthoses showed contribution in improving walking in patients with spinal cord injury. The purpose of these machines is to replace therapist manual assistance, increase the amount of stepping practice while decreasing therapist effort. This project aims to further improve and develop the lower limb orthoses. Also, a virtual prototype of the orthoses is to be created for simulation purpose, so that the motions of the orthoses can be studied with better understanding. Potential problems of the orthoses are the backlash at the miter gears between motor and the adjustable plate, and also poor strapping ability to hold a subject’s lower limb to the orthoses. Motor brackets which can minimize the backlash problem were developed and strapping devices which can hold the lower extremities in place and provide comfort were fabricated. Computer modeling and simulation of the orthoses were done using Solidworks and ADAMS softwares. Suitable linkages and constraints were added to the orthoses model with proper geometry. Then, motions of the joints were defined based on the test data obtained from experiment. Design variables were created to test the model for its behaviors through simulation. Kinematic analyses were then performed based on the simulation results obtained. Various tests can be done, and design parameters changed, to study the performances of the model under different conditions prior to the physical testing, which can be cost and time efficient.