Design and prototyping of : pneumatic assistive lower limb exoskeleton

Abstract

This project is aimed at design and prototyping of a lower limb exoskeleton for use with assistive and mobility applications through the utilization of suitable pneumatics controllers and actuators. The project was awarded with a generous grant from Mitsui Sumitomo Insurance Group Holdings, Inc and much has been achieved through careful allocation and usage of those funds. The current prototype was built upon the one originally put together by Tay Yao Zhong Eugene in 2009 as part of his Final Year Project. Key modifications included addition of force actuators at the ankle in the sagittal and coronal planes and redesigning of the mounts and footplates. These additions sought to provide support for the overall system and create motion in their respective planes, which was otherwise absent or impossible in the original prototype. With the help of Festo Corp’s local office, we were able to procure the essential pneumatic diaphragm cylinders from their Germany head office within a relatively short notice. This however was still not fast enough thus at the time of report writing, the system although assembled mechically, was still untested with regards to its motion logic and controls. Further testing will be conducted post 26 April 2010, in a bid to obtain a fully functional system by 13 May 2010.