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Mechanical analysis of wearable lower limb exoskeleton for rehabilitation

This paper presents the mechanical analysis of a lower limb exoskeleton for rehabilitation for both legs that was developed in University Putra Malaysia (UPM). The main objective of the project is to develop a wearable exoskeleton system based on the average height of Malaysian to enhance...

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Main Authors: Wong, Zhen Yang, Ishak, Asnor Juraiza, Ahmad, Siti Anom, Chong, Yu Zheng
Format: Article
Published: School of Engineering, Taylor’s University College 2014
Online Access:http://psasir.upm.edu.my/id/eprint/34464/
http://jestec.taylors.edu.my/Special%20Issue%20SAES2013.htm
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spelling my.upm.eprints.344642015-12-15T02:54:27Z http://psasir.upm.edu.my/id/eprint/34464/ Mechanical analysis of wearable lower limb exoskeleton for rehabilitation Wong, Zhen Yang Ishak, Asnor Juraiza Ahmad, Siti Anom Chong, Yu Zheng This paper presents the mechanical analysis of a lower limb exoskeleton for rehabilitation for both legs that was developed in University Putra Malaysia (UPM). The main objective of the project is to develop a wearable exoskeleton system based on the average height of Malaysian to enhance the wearability of the system to lower limbs. An anthropomorphic design was adopted in the prototype with pneumatic actuations at the knee with one (1) degree of freedom (DOF), and ankle joints with two (2) DOFs via McKibben Pneumatic Artificial Muscle (MPAM). The prototype also mimics normal human joints range of motion (ROM) to enable movements similar to normal human gait patterns. Such anthropomorphic prototype was designed to fit users with different heights for both genders (male: 1.6$1.8 m, female: 1.5$1.7 m). As a result, the frame can be adjusted from 0.37$0.42 m for thigh segment and 0.385$0.445 m for lower leg segment. The actuation properties of MPAM also determined as well as Vertical Ground Reaction Force (VGRF) analysis to be performed to determine the performance of the prototype once integrated with actuation system and control system. School of Engineering, Taylor’s University College 2014-10 Article PeerReviewed Wong, Zhen Yang and Ishak, Asnor Juraiza and Ahmad, Siti Anom and Chong, Yu Zheng (2014) Mechanical analysis of wearable lower limb exoskeleton for rehabilitation. Journal of Engineering Science and Technology, 9 (spec.). pp. 107-114. ISSN 1823-4690 http://jestec.taylors.edu.my/Special%20Issue%20SAES2013.htm
institution Universiti Putra Malaysia
building UPM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Putra Malaysia
content_source UPM Institutional Repository
url_provider http://psasir.upm.edu.my/
description This paper presents the mechanical analysis of a lower limb exoskeleton for rehabilitation for both legs that was developed in University Putra Malaysia (UPM). The main objective of the project is to develop a wearable exoskeleton system based on the average height of Malaysian to enhance the wearability of the system to lower limbs. An anthropomorphic design was adopted in the prototype with pneumatic actuations at the knee with one (1) degree of freedom (DOF), and ankle joints with two (2) DOFs via McKibben Pneumatic Artificial Muscle (MPAM). The prototype also mimics normal human joints range of motion (ROM) to enable movements similar to normal human gait patterns. Such anthropomorphic prototype was designed to fit users with different heights for both genders (male: 1.6$1.8 m, female: 1.5$1.7 m). As a result, the frame can be adjusted from 0.37$0.42 m for thigh segment and 0.385$0.445 m for lower leg segment. The actuation properties of MPAM also determined as well as Vertical Ground Reaction Force (VGRF) analysis to be performed to determine the performance of the prototype once integrated with actuation system and control system.
format Article
author Wong, Zhen Yang
Ishak, Asnor Juraiza
Ahmad, Siti Anom
Chong, Yu Zheng
spellingShingle Wong, Zhen Yang
Ishak, Asnor Juraiza
Ahmad, Siti Anom
Chong, Yu Zheng
Mechanical analysis of wearable lower limb exoskeleton for rehabilitation
author_facet Wong, Zhen Yang
Ishak, Asnor Juraiza
Ahmad, Siti Anom
Chong, Yu Zheng
author_sort Wong, Zhen Yang
title Mechanical analysis of wearable lower limb exoskeleton for rehabilitation
title_short Mechanical analysis of wearable lower limb exoskeleton for rehabilitation
title_full Mechanical analysis of wearable lower limb exoskeleton for rehabilitation
title_fullStr Mechanical analysis of wearable lower limb exoskeleton for rehabilitation
title_full_unstemmed Mechanical analysis of wearable lower limb exoskeleton for rehabilitation
title_sort mechanical analysis of wearable lower limb exoskeleton for rehabilitation
publisher School of Engineering, Taylor’s University College
publishDate 2014
url http://psasir.upm.edu.my/id/eprint/34464/
http://jestec.taylors.edu.my/Special%20Issue%20SAES2013.htm
_version_ 1643831162154516480
score 13.211869

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