College - Author 1
College of Engineering
Department - Author 1
Biomedical Engineering Department
Degree Name - Author 1
BS in Biomedical Engineering
College - Author 2
College of Engineering
Department - Author 2
Biomedical Engineering Department
Degree - Author 2
BS in Biomedical Engineering
College - Author 3
College of Engineering
Department - Author 3
Biomedical Engineering Department
Degree - Author 3
BS in Biomedical Engineering
Date
6-2024
Primary Advisor
Iian Black, College of Engineering, Biomedical Engineering Department
Abstract/Summary
This paper presents a non-motorized foot and ankle exoskeleton to assist persons who have no lower limb or abdominal function. Exoskeletons are defined as “an artificial external supporting structure” [1], they are wearable devices that can be used to assist the capabilities of the human body. Although the exoskeleton must be used with crutches, plantarflexion and dorsiflexion will be implemented within the ankle joint to alleviate strain on the foot and ankle, strategically designed in a way that supports the user so their walking performance is as ideal as possible. Additionally, safety straps will be integrated into the foot portion of the exoskeleton to ensure ease of use when putting on the exoskeleton. Sensors will be implemented along the bottom of the foot endplate to evaluate weight distribution to aid in the creation of future exoskeletons. The ankle joint will incorporate a tab for linkage to attach to the rest of the LLEAP exoskeleton, which is concurrently being worked on.
The design process consisted of meetings with our sponsors, gathering customer requirements and engineering specifications, and creating preliminary sketches of potential designs for the prototype. The design process began by assessing key requirements to the prototype including plantar and dorsiflexion of 20° in both directions, supports high weight (total weight of exoskeleton and user), fits a wide range of feet, and cooperates with LLEAP’s exoskeleton. These features were implemented into the preliminary design and maintained through the various iterations of the prototype. Once the final prototype was manufactured and assembled, testing took place to ensure functionality of the device to meet customer requirements. The range of motion for the device in plantar and dorsiflexion were tested and confirmed 20 degrees of freedom in both directions. The device’s ability to fit a wide range of feet was tested with participants of various shoe sizes to confirm sizes that could be accommodated by the exoskeleton.
Our senior design project consists of designing a biomechanically accurate foot and ankle to be integrated into an exoskeleton being developed by the Lower Limb Exoskeleton Assist Project (LLEAP), as part of the EMPOWER student association at Cal Poly, San Luis Obispo.
URL: https://digitalcommons.calpoly.edu/bmedsp/189
Included in
Biomechanics and Biotransport Commons, Other Biomedical Engineering and Bioengineering Commons