BIPATRON (Bionic parageliatron): A wearable robot for rehabilitation… Lets Walk!

摘要

A wearable robot, BIPATRON — Bionic Parageliatron is an exoskeleton suit designed for the rehabilitation of disabled persons. It actually is a biped wearable metallic frame that can help paraplegics leave their wheelchairs. It gives assistance while sitting, standing and walking. It is an excellent source of physiotherapy which is a must treatment for the rehabilitation of the disabled. The BIPATRON belongs to the category of ‘wearable robotics’ and can be used for a number of different applications. These exoskeletons can be powered by a system of motors, pneumatics, or hydraulics depending upon their work environment i.e. military, civil works (to carry heavy loads) or for the assistance of disabled persons. In the prototype that has been constructed, the essential elements are electric motors, IMU sensor and the controller. Design and fabrication of its structure has also been a significant milestone of this prototype. This research work can be divided into two main parts. The first part is the biped mechanical structure that includes material of the body and the motors placed on it. The second part is to control that structure using IMU sensor for balancing and the controller for implementing different functions. It has a mechanical structure that is balanced and controlled electronically. This Exoskeleton suit has eight motors. Six of them are functioning as human joints, i.e. hips, knees and ankles, and the remaining two motors are used for weight shifting while walking. The user has been provided with a control on the suit through a controlling pad consisting of 3 buttons i.e. ‘sit’, ‘stand’ and ‘walk’ commands. The suit can lift and bear weight of a person and maintains his balance while walking. At this initial stage, the prototype has a battery backup of about 30 minutes.