Eventos Anais de eventos
ENEBI 2018
6º Encontro Nacional de Engenharia Biomecânica
Exosuit for Alternative Hip Actuation, A Prove of Concept
Submission Author:
João Pedro Castillo Dourado Freire , DF , Brazil
Co-Authors:
João Pedro Castillo Dourado Freire, Antonio Padilha Lanari Bo, Thiago Rocha
Presenter: João Pedro Castillo Dourado Freire
doi://10.26678/ABCM.ENEBI2018.EEB18-0172
Abstract
This paper designs an exoskeleton-based prototype geared up like a suit, named "Exosuit". Such construct provides an alternative approach for exoskeleton actuation systems, based in a composed system of linear actuators and integrated transmission instead of rotative actuators. Such actuation system controls the hip joint motion, joint hard to control with superficial electrical stimulation. The structural and actuation system design requirements are calculated based in anthropometric and rehabilitation walking properties. Experimental test trials were conducted to retrieve kinematic data of unassisted gait at slow rehabilitation speeds and exosuit-assisted gait. The experimental results are processed with a signal-processing program, defining and comparing the average gait cycle of each gait type. The conclusions show that, despite an excessive range of motion due to mechanical limitations, the exosuit-assisted gait replicates the kinematic shape of normal hip joint motion and could be further improved.
Keywords
exoskeleton, exosuit, Gait rehabilitation
