Design and Simulation of Lower Limb Exoskeleton for Rehabilitation

Abstract

Owing to the recent progress in robotic medical, rehabilitation and supportive device for human walking, sitting and standing, the present project work is planned for design and simulation of lower limb exoskeleton for rehabilitation. In this project, detailed aspects of structural design, material selection, mathematical calculation, actuator selection and simulation will be discussed. The kinematic analysis, including forward and inverse kinematics, and trajectory planning are done for ankle and hip joints for walking pattern generation. The maximum torque of 74.15 Nm is calculated using Newton-Euler dynamic formulation for manipulator. The walking pattern simulation is carried out in MATLAB Simulink to analyze gait pattern. The simulated gait pattern is developed using different waking posture for completion of single gait cycle.