Intelligent Control and Embedded System Design of Lower Limb Rehabiliation Exoskeleton

Project Title

Intelligent Control and Embedded System Design of Lower Limb Rehabiliation Exoskeleton

Project Area of Specialization Wearables and ImplantableProject Summary

This project focuses on intelligent control and embedded system design of lower limb rehabilitation exoskeleton. This is a continued project. Previously, the project titled, "Design with Fabrication and Control implementation of Lower Limb Exoskeleton" was funded under the program "NGIRI-2020" with FYP Code "NGIRI-2020-4610". The project was completed successfully. Reports and other relevant material can be provided on demand. In this continued project, firstly the exoskeleton will be upgraded to two legged. After that a mobile platform will be designed upon which the exoskeleton will be mounted. This mobile platform will support the patient with lower limb disabilities with the help of body weight support and the exoskeleton will be worn by the patient for on-ground gait training and treadmill training. Gait training is a repetitive movement of the exoskeleton in which the exoskeleton follows or tracks a predefined gait pattern. This repetitive movement is a therapy for patients who require daily sessions for their muscle healing and training for patients for regaining the capabilities of the limbs. Secondly, an intelligent control and embedded system will be designed to provide precise and accurate gait training in order to achieve effective results. More sensors will be integrated and an infotainment system to assess the rehabilitation results will be designed.

Project Objectives

Following are the project objectives;

a) Upgradation of the previously designed single leg exoskeleton to two legged.

b) Design and fabrication of mobile platform along with body weight support to mount the exoskeleton.

c) Embedded system design and Intelligent control implementation for the complete exoskeleton to achieve precise and accurate gait training

d) Integration of sensors for smooth operation and infotainment system for display and assess the rehabilitation results.

Project Implementation Method

Hardware completion of second leg (procurement of previously used actuators and fabrication of links and integration)

Literature Survey, visits and consultation for designing the mobile platform

Design and Fabrication of Mobile Platform

Benefits of the Project

Mobile Platform based Lower Limb Rehabilitation Exoskeleton Equipment will provide gait training by following/ tracking the predefined trajectory precisely and accurately. Patients with disabilites (physiological or neurological) or injuries who require daily therapy and gait training respectively will be benefitted. 

Technical Details of Final Deliverable

Mechanical and Mechatronic/ Electromechanical Hardware:

Two legged exoskeleton with nine degrees of freedom, six links, six motors and sensors 

Embedded System Design:

Motor driver circuits, microcontroller(s)

Control System Design:

Intelligent Control/ Algorithm for trajectory tracking

Final Deliverable of the Project HW/SW integrated systemCore Industry MedicalOther IndustriesCore Technology Wearables and ImplantablesOther TechnologiesSustainable Development Goals Good Health and Well-Being for People, Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	80000
Motors/ Actuators	Equipment	3	6000	18000
Sensors	Equipment	9	500	4500
Platform Components	Equipment	6	5000	30000
Embedded System	Equipment	3	2500	7500
Infotainment System	Equipment	1	10000	10000
Platform Fabrication	Miscellaneous	1	10000	10000