Design of Semi-Powered Knee Exoskeleton

Ching, Weng Gui (2017) Design of Semi-Powered Knee Exoskeleton. Final Year Project (Bachelor), Tunku Abdul Rahman University College.

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Abstract

The weight and cost of a powered exoskeleton had become a weakness and burden to user. However, a fully mechanical exoskeleton is having limitation in its performance. Both these 2 exoskeletons are not suitable to use in assist elderly in daily activity. The objectives of the study are related to the redesign and improve the performance of Exoskeleton, an electromechanical device to help the one who is experiencing difficulties during walking for long period of time and walking up the stairs from day to day. The literature review is carried out in examining the existing and the previous work done to finds out a way to improve in the performance and weight, as well as to coordinate the body in a better means. In order to design and improve the existing Exoskeleton suit, TRIZ methodology was used. TRIZ stand for Theory of Inventive Problem Solving, used to identify the root cause of a problem and generating solution to solve contradiction without compromising. After the generation of solution, 3D modelling technology was used to design the new version of exoskeleton suit. The Semi-Powered Knee Exoskeleton device designed are able to generate up to 461N of thrust by using the combination of 300N thrust force actuator and torsion spring. The overall cost of the SPoKE device ie roughly RM 1325 which is much cheaper as compare with the commercial Exoskeleton. The size and weight of SPoKE device is considered small and light as compare to the commercial Exoskeleton. In a nutshell, a complete study has been done based on existing technology on exoskeleton. The device developed is able to help a person in performing daily activities. In term of performance, the combination of mechanical spring and electrical actuator able to greatly reduce the force needed for elderly to walking up the stairs. In term of weight and size, the new exoskeleton is much lighter and smaller compared to majorities of the exoskeleton available in the market.