טכניון מכון טכנולוגי לישראל
הטכניון מכון טכנולוגי לישראל - בית הספר ללימודי מוסמכים  
M.Sc Thesis
M.Sc StudentCohen Adi
SubjectModeling the Dynamics and Control of Rehabilitative
Exoskelton with Robotic Crutches
DepartmentDepartment of Mechanical Engineering
Supervisor Professor Yizhar Or
Full Thesis text - in Hebrew Full thesis text - Hebrew Version


Abstract

Background: Over the past few decades, robots have been introduced into many fields - including industry, medicine and rescue forces. Rehabilitative robotics is one of these areas, and it is now in development stages. The goals of most rehabilitative robots can be classified into three main categories: a) Recovery of movement of the limbs when the limb’s function is still available. b) Replacing the limbs’ movement in order to achieve the desired motoric function and encourage strengthening of the muscles and bones. c) Replacing a damaged limb with a smart prosthesis.

Robots capable of assisting people who suffer from high-level disability can rarely be found, and some of them can only assist in a controlled area. One solution for assisting such people in enabling mobility on a daily basis is by using a robotic device called exoskeleton which supports the person while performing a gait. Such devices have been developed by a number of companies, but they can at most support paraplegics while using crutches for support during the gait. 

On the other hand, a lot of research was done on the field of biped robots - robots with motorized limbs that can support themselves during the gait cycle.

Such research includes robot's motion planning, kinematic and static analysis, motion behavior analysis based on quasi-static or dynamic motion and control.


Goals: The primary goal of the thesis is to conduct a theoretical feasibility check of exoskeleton with robotic crutches used for supporting people with high-level disability, such as quadriplegics who cannot use the existing solutions to perform gaits.

An intermediate objective of the thesis is to develop a robotic simulation tool which will provide verification and validation of the different calculations performed during the thesis. The simulation tool will be based on the Simulink/SimMechanics environment.


Results: The exoskeleton with robotic crutch planar model was found to be feasible. This research included analysis on motion stage which deals with no-slip contact and analysis on motion stage which deals with an under-actuated system of 1st order.

both motion stages were found to be feasible with the given model while maintaining the required gait.