Skip to main content

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

Resource type
Thesis type
(Thesis) M.A.Sc.
Date created
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.
Copyright statement
Copyright is held by the author.
This thesis may be printed or downloaded for non-commercial research and scholarly purposes.
Scholarly level
Supervisor or Senior Supervisor
Thesis advisor: Arzanpour, Siamak
Thesis advisor: Park, Edward J.
Download file Size
etd10622.pdf 16.45 MB

Views & downloads - as of June 2023

Views: 21
Downloads: 1