Mechanics and Construction > Mechanics and Construction

Exoskeleton Suit for people with paralyzed leg (NEED HELP on Motor Part!!)

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jeeloong:
 8) Hi Mates!!!

I am currently stuck in a position where I not sure how to robot system will behave.

I plan to use 2 Electric Motor on Hip and Knee segment of leg. I was wonder if there is any suggestion on how to allow the actuator at hip to be slightly flexible yet provide rigidity for support paralyzed person after performing forward step.

For instance after moving left leg forward. I would like the motor to be slightly 'relax' so that individual can transfer his weight forward and move his body forward. For my understanding, if the motor if too stiff it will be quite hard for the person to make the forward move.

Because I heard that DC motor with integrated gear box is quite stiff and hard to move them.

Can someone help me on this!!!


newInRobotics:
You can always use brushless motor :)

jwatte:

--- Quote from: jeeloong on November 28, 2012, 07:15:55 PM ---For instance after moving left leg forward. I would like the motor to be slightly 'relax' so that individual can transfer his weight forward and move his body forward. For my understanding, if the motor if too stiff it will be quite hard for the person to make the forward move.

--- End quote ---

My guess is that you actually need some kind of movement/flexure in the exoskeleton that has range of motion for the person riding it, in addition to the hip joint. You could actuate this separate flexure as a separate degree of freedom.

Also, "shifting your weight" needs participation from muscles; when I do it, I seem to use my leg muscles. Are the kinds of paralyzed people you're designing this for actually capable of controlling the muscles needed to shift the weight?

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