Design with Fabrication and control implementation of lower limb Exoskeleton

Project Title

Design with Fabrication and control implementation of lower limb Exoskeleton

Project Area of Specialization Mechatronics EngineeringProject Summary

The aim of this project is to provide locomotion rehabilitation to individuals with weak muscles using the mechatronic exoskeleton as mobility aid. Weak muscles can be because of old age or because of injuries. The expected outcome is to help the patients regain the capability to walk again by training the patients' muscles over a specified gait trajectory. The project stages include hardware design and fabrication, realtime modeling and simulation and robust trajectory tracking control of the lower limb exoskeleton. Hardware design includes but is not limited to; Design and Fabrication of an anthropomotrphic mechanical structure of three degrees of freedom using a light weight material. The exoskeleton can provide on-ground training as well as treadmill training. Realtime modeling and simulation will include; Kinematic/ Inverse Kinematic Analysis and Real-time Dynamic modeling of the designed and fabricated hardware. After that robust trajectory tracking of the specified gait pattern is ensured by implementation of the control strategy. The final outcome include a platform for rehabilitation (locomotion assistance and gait training) of the patients and as a testbed for novel control strategies required to achieve optimal, robust and intelligent tracking control of the designed lower limb exoskeleton.  

Project Objectives

The project objectives are summarized below;

1) Locomotion Assistance and Gait Rehabilitation of Individuals with Weak Muscles (Old Age Individuals and the ones' with Injuries)

2) Design and Fabrication of an Anthropomorphic Mechatronic Hardware of Lower Limb Exoskeleton capable of providing Rehabilitation comprising of three Degrees of Freedom and made of light weight material

3) Realtime Modeling and Simulation: Kinematic/ Inverse Kinematic Analysis and Real-time Dynamic/ Analytical Mathematical Modeling of the designed and fabricated structure to achieve a precise model of the hardware for the design and implementation of the control strategies

4) Robust Trajectory Tracking Control: Locomotion Assistance and Gait Training according to the specified gait trajectory by robust tracking algorithm to ensure desired outcome.   

Project Implementation Method

The project will be carried out in four phases;

1) Hardware Design and Fabrication

2) Modeling and Simulation

3) Design and Implementation of the Control Strategy

4) Tuning of the control parameters to achieve desired output

This project is a Final Year Project (FYP) of the undergraduate students pursuing Bachelors Degree in Mechatronic Engineering. The project is expected to be completed by the end of the next academic year i.e. June 23, 2021. The FYP is divided into three terms as FYP-I, II and III. At the end of the FYP-I the students are expected to complete literature survey of already designed and deployed exoskeletons to identify the potential problems and make a thorough report to address the problems effectively. At the end of FYP-II, the students are required to complete atleast two above stated phases so as to complete the project within the specified time. At the end of the final year and FYP-III (Spring 2020), the students are to handover complete hardware in working condition i.e. in case of this project a robust trajectory tracking hardware capable of providing comfortable gait training and locomotion assistance to the targeted individuals.

Benefits of the Project

This project benefits the

1) Medical Field in the form of Rehabilitation (Locomotion Assistance and Gait Training) of patients with weak muscles and old age individuals. The locomotion assistance helps the old age people with their mobility problems and hence improves the quality of life. Secondly, the patients who due to injuries are unable to walk are trained and rehabilitated to walk independently again.

2) Research on Trajectory Tracking Control of Lower Limb Rehabilitation Exoskeleton for novel Control Strategies to provide effective control. The designed and fabricated hardware as a testbed/ platform benefits in implementation and testing of designed intelligent control strategies.

Technical Details of Final Deliverable

1) Hardware of Lower Limb Exoskeleton

• Three Degrees of Freedom, three link two legged exoskeleton
• Three Motors for the actuation of hip, knee and ankle joint (flexion and extension of leg)
• Optical Encoders for position sensing and force sensitive resistors for effective tracking 

2) Realtime Modeling and Simulation

• Kinematic/ Inverse Kinematic Analysis
• Real-time Dynamic Modeling and Simulation

 3) Trajectory Tracking Control Strategy 

• Robust Control Strategy designed and implemented for tracking control
• Results of realtime experiments  

Final Deliverable of the Project HW/SW integrated systemCore Industry MedicalOther Industries Health Core Technology RoboticsOther Technologies Wearables and ImplantablesSustainable Development Goals Good Health and Well-Being for People, Quality Education, Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	80000
Actuators (Electrical Motors)	Equipment	6	6750	40500
Treadmill	Equipment	1	29500	29500
Platform and Exoskeleton Fabrication	Miscellaneous	1	10000	10000