In this thesis, a new design of soft wearable exoskeleton is presented. Unlike the previously existing exoskeletons, the newly designed soft exoskeleton uses a continuum mechanism which is controlled by cable driven mechanism. In the past, several different designs of wearable exoskeletons to assist walking have been developed. Most of the developed ones happened to be rigid link exoskeletons. The rigid link design needs the torque source motors to be placed on each human leg joint which are the hip and knee joints. This feature makes it bulky and less usable for frequent application. To minimize the bulkiness and to make it more usable a novel deign of soft wearable exoskeleton for walking assistance is presented. This thesis presents deign, modeling, control, hardware in the loop simulation and small scaled prototype of the soft wearable exoskeleton. In the design section, how the torque source motors are placed and how the torque is transferred to the knee and hip joints are discussed. Following the design, modeling of the human leg to be assisted is done considering it as a two link system. In the control section, proportional and derivative (PD), PD computed-torque and PD adaptive controllers are designed and simulated on MATLAB/Simulink for a given trajectory. Hardware in the loop (HIL) simulation is also done by making the Arduino Uno microcontroller as the hardware target to be tested as a real time controller on MATLAB/Simulink. Finally, a small scaled wooden link prototype to show how the newly designed exoskeleton functions is presented. From control simulation, when exposed to disturbance, the adaptive PD controller gave the best reference tacking with error increased by only 18% for link one and 9% for link two. The other two controllers tracking error increased significantly and gave a vibrating bad tracking. The designed novel exoskeleton can reduce minimum of 30% weight than rigid link exoskeletons. The presented prototype of the soft wearable exoskeleton showed that the design can provide the desired assistance for walking while being less bulky and more usable


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    A NOVEL SOFT WEARABLE EXOSKELETON FOR WALKING ASSISTANCE


    Beteiligte:

    Erscheinungsdatum :

    03.03.2022


    Anmerkungen:

    doi:10.20372/nadre/19626



    Medientyp :

    Hochschulschrift


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




    User intention driven adaptive gait assistance using a wearable exoskeleton

    Rajasekaran, Vijaykumar / Aranda López, Juan / Casals Gelpi, Alicia | BASE | 2016

    Freier Zugriff

    Wearable exoskeleton robot for underwater rescue

    PENG JINGWEI / LIU BANGXIU | Europäisches Patentamt | 2024

    Freier Zugriff

    WALKING ASSISTANCE VEHICLE

    SUZUKI SHINJI / FUJITA HIDEAKI / MATSUMOTO TAKEHIDE et al. | Europäisches Patentamt | 2016

    Freier Zugriff

    WALKING ASSISTANCE DEVICE

    MATSUMOTO TAKEHIDE / FUJITA HIDEAKI / UEYAMA AKIKAZU et al. | Europäisches Patentamt | 2016

    Freier Zugriff

    Walking Assistance Device

    GO SEUNG JIN / KWON KI SANG / JEONG GU JIP | Europäisches Patentamt | 2017

    Freier Zugriff