Hybrid Assistive Wheelchair Exoskeleton Transformer.

Authored by: Tanmay Shankar

Dept. of Mechanical Engg., Indian Institute of Technology Guwahati.
Design Proposal of Hybrid Assistive Wheelchair
Exoskeleton Transformer as a bionic device for
providing simultaneous mobility assistance and
rehabilitation to patients of lower extremity
partial paralysis. The design is based on a novel
hybrid of the wheelchair and exoskeletons, and
satisfies the following requirements.
Thousands of people today suffer from motor or
nerve disorders, and partial/total paralysis in
their lower body. They are unable to walk and
move on their own. The automated devices
currently available for mobility assistance for
such people come in the form of Wheelchairs,
Stair-lifts, Exoskeletons, etc. These are typically
too expensive for the common man to afford,
and have very limited and specific purposes.
There is a lack of low cost devices that can serve
as aids to such patients.
Help with physical rehabilitation, improving
mobility over all terrain, and providing
independence to user.
Conformal to normal gait.
Be capable of supporting, balancing, and
shifting weight.
Be low cost, ergonomic, and user friendly.
Have low power consumption, Be light weight
and rechargeable.
Satisfy Geometrical/ Size / Access constraints.
Be Rugged and incorporate safety measures.
Mechanical Aspects- Stress-Strain on the various
linkages, Motor Torques, Supporting weight of
the patient/user, shifting between wheelchair
and exoskeleton modes, etc.
Anatomical / Physiological Aspects - Gait of
regular human walking, locus of key points such
as ankle, knee, hip, waist, foot, Muscle usage and
forces, various conditions of restricted mobility.
Design Aspects- Easy switching between two
modes of usage, under-actuation of ankle, knee
increased degrees of freedom, optimization.
Electrical Aspects- Power supply to motors and
actuators, battery and charging circuits, etc.
Electronic and Control Aspects- Constraints
between various degrees of freedom, Motor
drivers, interfacing sensors, taking inputs, etc.
There are several further improvements that may
be implemented-
For example, a variable assistance technology
that ascertains the fraction of force that must be
supplied while aiding the motion of the user. This
will be critical in rehabilitation.
It is possible to automate the control mechanism
completely, and sensing when the user would
like to take a step. This could be implemented by
dynamic sensor input processing or through
machine learning.
The device has the potential to be extended to
lower body amputees as well, bridging the gap
between exoskeleton devices and prosthetics.
Papers, Research, and Prototypes studied from:
UC-Berkeley Bionics, MIT Media Lab bio-mechatronics
Group, Ekso Bionics, Vanderbilt University, IEEE/SICE- SII,
Cornell University Biomechanics laboratory, Chicago
Institute of Rehabilitation.
Abstract & Aim:
Introduction
Design Aspects:
Conclusion and Further Scope:
Analysis:
Prof. S. K. Dwivedy, Asst. Prof. Sachin D. Kore, Mr.
Monuranjan Dowarah, Mr. Bhaben, for their
valuable guidance and support of this project.
Acknowledgements:
References:
CAD Model: Exoskeleton Mode.
CAD Model: Wheelchair mode.
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Methodology:
Research Tentative Design Analysis
Fabrication of Iteration Testing Repeat
Requirements of Design:
Path Tracing of Leg motion:
Kinematic and Dynamic force analysis are
being carried out in Solidworks using ADAMS
driver. Initial graphs of Angular velocities,
Motor Torques, and Linear Displacements are
shown:
Small Scale Prototype: