Design of a lower-limb robotic exoskeleton using five bar mechanism

• Main Author: Wang, Yuanhan
• Other Authors: Low Kin Huat
• Format: Final Year Project
• Language: English
• Published: 2016
• Subjects: DRNTU::Engineering
• Online Access: http://hdl.handle.net/10356/68039
• Institution: Nanyang Technological University

In the foreseeable future, there is a probable scenario is that the mobility reduction will result in a booming number of walking malfunction people asking for assistance in their daily life. This report documents the design and development of a cable-driven lower limb exoskeleton with five-bar mechanism to help the people with gait disorders and lower-limb impairments. This research project seeks to design a cable-driven actuation system for exoskeleton, perform the implementation of series elastic actuation module, provide a 5-bar mechanism solution which differ from existing design, and evaluate the performance of the exoskeleton with finite element analysis. The study of the state of art of lower limb exoskeleton is illustrated. The biomechanics of walking is dissected by human gait analysis to provide data support for estimation in motor selection embodiment design. As it is the first application of 5-bar mechanism in lower limb exoskeleton, certain limitation was faced during design and some compromises were made to achieve a balance between performance and costs. Lastly, this final year project aims at providing a new idea and platform for future development of exoskeleton and humanoid robot.