Design of a powered wearable lower limb anthropomorphic exoskeleton

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The goal of this NSERC CRD proposal is to design a wearable lower limb anthropomorphic exoskeleton robotic system (WLLAE) such that the natural range-of-motion of human joints is preserved. A wearable exoskeleton device has the potential to immensely improve the quality of life of those with reduced mobility by helping them to regain or maintain a level of autonomy and allowing them to engage in social life. To maintain all the functionalities of normal human joints, 6 degrees of freedom Stewart platforms will be custom designed in miniature to actuate the hip and ankle joints, and for the knee a hinge joint will be implemented. To connect these joints magnetorheological dampers will be employed as flexible links between joints to mimic the flexibility of human body links (mostly by cartilage). Biofeedback sensors including surface electromyography will be employed to estimate users' intentions and command the actuators. WLLAE will be equipped with a fall detection unit and airbag systems to protect users against fall-related injuries.