7-degree-of-freedom hybrid-manipulator exoskeleton for lower-limb motion capture

Date created: 
2018-04-06
Identifier: 
etd10622
Keywords: 
Lower-limb exoskeleton
Motion capture
Hybrid manipulator
Parallel manipulator
Kinematic analysis
Electromechanical motion tracking
Abstract: 

Lower-limb exoskeletons are wearable robotic systems with a kinematic structure closely matching that of the human leg. In part, this technology can be used to provide clinical assessment and improved independent-walking competency for people living with the effects of stroke, spinal cord injury, Parkinson’s disease, multiple sclerosis, and sarcopenia. Individually, these demographics represent approximately: 405 thousand, 100 thousand, 67.5 thousand, 100 thousand, and 5.9 million Canadians, respectively. Key shortcomings in the current state-of-the-art are: restriction on several of the human leg’s primary joint movements, coaxial joint alignments at the exoskeleton-human interface, and exclusion of well-suited parallel manipulator components. A novel exoskeleton design is thus formulated to address these issues while maintaining large ranges of joint motion. Ultimately, a single-leg unactuated prototype is constructed for seven degree-of-freedom joint angle measurements; it achieves an extent of motion-capture accuracy comparable to a commercial inertial-based system during three levels of human mobility testing.

Document type: 
Thesis
Rights: 
This thesis may be printed or downloaded for non-commercial research and scholarly purposes. Copyright remains with the author.
File(s): 
Supervisor(s): 
Siamak Arzanpour
Edward Park
Department: 
Applied Sciences: School of Mechatronic Systems Engineering
Thesis type: 
(Thesis) M.A.Sc.
Statistics: