Implementation of a lower extremity exoskeleton

V tem diplomskem delu je predstavljena izvedba eksoskeletona spodnjih okončin, ki omogoča hojo osebam s poškodovano hrbtenjačo, tako da zagotavlja potrebne momente v kolčnem in kolenskem sklepu. Naprava mase 11,2 kg je v obeh sklepih sposobna generirati največji moment 80 Nm, z gibljivostjo od 100° (upogib) do 35° (izteg) v kolčnem in od 105° (upogib) do 10° (izteg) v kolenskem sklepu. Energijo zagotavlja akumulator Li-Po-Fe, ki zadostuje za dve uri kontinuirane hoje. Skupna moč naprave je 160 W, pri čemer znaša povprečna moč kolčnega sklepa znaša 27 W, moč sklepa kolena pa je 46 W. This paper describes a powered lower-limb exoskeleton that is intended to provide gait assistance to spinal cord injured individuals by providing assistive torques at both hip and knee joints. The device has a mass of 11,2 kg and is capable of providing maximum joint torques of 80 Nm with hip and knee joint ranges of motion from 100° flexion to 35° extension and 105° flexion to 10° extension, respectively. A custom distributed embedded system controls the orthosis with power being provided by a lithium polymer battery, which provides power for two hours of continuous walking. The electrical power required at each hip and knee joint during gait is approximately 27 W and 46 W, respectively, contributing to the 160 W overall electrical power required by the device during walking.