Conceptual design of a lower limb exoskeleton actuated by shape memory alloys for assisting elderly people in stair climbing

摘要

Since interest in exoskeletons and active orthoses has been growing in recent years, optimal design and weight reduction of such systems was one of the main concerns of researchers. This study's purpose is to develop a lower limb exoskeleton for assisting elderly people in stair climbing. To this end, using shape memory alloy (SMA) actuators was under focus. As the first step of the research, in this paper, a conceptual design of such a light weight wearable robot was studied. Through the analysis implemented in Matlab and verified through ADAMS, benefits in addition to weaknesses of system are elaborated. It is shown that using such system would be helpful for special people.