AN INTEGRATED LOWER EXOSKELETON SYSTEM TOWARDS DESIGN OF A PORTABLE ACTIVE ORTHOTIC DEVICE

摘要

This paper presents a wearable lower extremity exoskeleton developed as a platform for research work to develop devices that can enhance and assist the human walking and load carrying capability. The first prototype was produced with an integrated inner/outer exoskeleton system and a footpad mounted with sensors. Simulation model and feedback control with the ZMP method had also been established by using Adams and Matlab, respectively. The design principle and system methodology were then extended to the testing and implementation of active knee devices. Current robotic orthotic devices have advantages over passive devices because they are capable of aiding the knee, sharing the body weight acting on the knee, and thus reducing the knee stress without affecting the mobility of the user. The ultimate goal of the current research is to design a portable active orthotic device that can be used for rehabilitation and strength enhancement purposes.