EMPOWERING LOWER LIMB EXOSKELETON
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A lot of challenges are faced by humans all over the world, due to the susceptibility of their bodies when dealing with either heavyweight that can cause fatigue and muscle rupture, or illnesses and injuries affecting limbs that cannot be cured or even fixed by modern medicine. This is where modern engineering comes in to try and come up with an effective and relatively cheap method using state of the art technological implementations and design, one of the solutions that Engineers came up with is what's called now an Exoskeleton upon which this project is about. A human Exoskeleton increases the strength, endurance, and ability to work especially for people with mobility impairment. There are several types and classifications of Exoskeletons, either according to the degree of immobility upon which there are lower, upper, and full-body extremities, or regarding specific working environments like moving loads in factories. During this project, the Empowering lower limb Exoskeleton had to be an intelligently designed system that achieved the necessities intended, like climbing up and down the stairs and doing simple walking maneuvers and provide benefits never before given by wheelchairs and mobility aid vehicles and with none of its disadvantages. The Exoskeleton will be a wearable suit like device that works to carry out daily duties for patients and users. The exoskeleton will support the Patient's legs and enhance walking capabilities for users thanks to multiple degrees of freedom (DOF) joints which support each leg by DC electric actuators connected to a combination of gears to give the required torque for each joint. Modeling and design of the present work were done by using a parametric solid modeling computer program (Solidworks), the process of selecting the main body material was done by checking which material best fits the characteristics required for the Exoskeleton and was easy to manufacture, the strength and mathematical modeling of the kinematic portions were done using a multi-paradigm numerical program (Matlab) to find the most suitable walking combination by investing degrees of freedom for each joint, we also used Matlab and Arduino to design the control portion of the Exoskeleton, an electronic circuit is designed and derived from the Matlab simulation in order to control each joint movement in coordination with the human body. The full brain of the Exoskeleton is a combination of four Arduino Circuits controlling and initiating the movement of the wearer.