Lower Body Passive Exoskeleton Using Control Enabled Two Way Ratchet

摘要

Development in biomechatronic technology has brought man-machine into close proximity. As the human-robot interaction has enhanced in past few decades, exoskeletons have started to emerge as a promising possibility for improving the human capabilities, assisting the ailing and supporting the heavy physical labour by reducing the fatigue. These systems are anthropomorphically designed so that they can be used in concomitance with human bodies natural structure, without hindering the movements. Our team has designed and created a proof of concept, ‘Passive Lower Body Exoskeleton’, In order to make this sophisticated technology, sustainable, durable and at the same time user-friendly. This Exoskeleton is using two way ratchets at various joints to facilitate the force transfer due to the payload. The weight carried by the wearer is transmitted to the ground without stressing the hips, knees and ankle joint. This passive lower body exoskeleton is not a power-enhancing or the augmentation device, it assists the wearer to transmit the load to the ground using locking and unlocking of ratchet at each joint. As the passive exoskeleton does not use the actuator for its working, minimum energy is required for actuating servo for locking and unlocking the joint reducing the battery consumption and increasing the operational period, while reducing the inertia of the device In this paper, we discuss the design of the mechanical system and electronic system architecture in the first half of the paper. We discuss the simulation and analysis of the system along with the parameter correlation and design of experiments simulation using ANSYS in the next half of the paper. Finally, we conclude the paper with opportunities in developing the exoskeleton further.