Design, kinematics and dynamics modeling of a lower-limb walking assistant robot

Nasrabadi, Ali Asghar Mohammadi; Absalan, Farshid; Moosavian, S. Ali A.

doi:10.1109/icrom.2016.7886867

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Lower extremity assisted exoskeleton for people who need rehabilitation training and stairs assistance

Tan

2020

J. Phys.: Conf. Ser.

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The Assistant Exoskeleton for Lower Limbs are able to help the following three kind of people walk better: People with congenital defects in the lower limbs, those who have suffered major trauma to their the lower limbs, and those who use the lower limbs for work in a high frequency. For the exoskeleton of this project, aluminum alloy is adopted as the main material, high-power steering gear as the driving part, Arduino Uno as the main board, hard plastic as the lumbar support board, and Velcro as a aid for wearing. In order to make the movement of the exoskeleton more flexible without being too rigid, in this project, an extra set of exoskeleton was manufactured to collect motion data, and a program was written to record the movement of people walking. In the end, this exoskeleton device will mainly provide support for the waist, and share the pressure on the legs, so as to can help anyone with walking fatigue and care for people’s waist and leg health.

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