Design and Implementation of a Cable Driven Lower Limb Exoskeleton for Stair Climbing

摘要

To assist the disabled people, the exoskeleton systems have been developed in robotics. As a result, such systems have absorbed a lots of interest in recent years. One of the main challenges of developing exoskeleton systems is their perfect design. In the present study, to help the elderly people a lower-limb exoskeleton is designed and fabricated which assist them for stair climbing. To this end, a conceptual design of such a wearable robot is presented. Simulation of the system is performed in ADAMS and its effectiveness was shown. In addition, a prototype of the system is manufactured to show the performance and functionality of system in some stair climbing trials.