Modular Lower Limb Exoskeletons
The reconfigurable exoskeleton is a feasibility and design study of a modular lower limb exoskeleton that can be adapted on a mechanical level to the intended user group and application. The introduced modular design allows to compose lower limb robotic exoskeletons with up to four degrees of freedom per leg. To each joint, a module can be added to define the functionality. Three different modules are introduced: one actuator for active support and two different adjustable spring modules that stabilize the joint around an equilibrium position.
The projects focuses on the design of a modular lower limb exoskeleton consisting of a variety of elements that can be combined and adjusted to create a personalized exoskeleton according to given requirements. The system can be split into the frame of the exoskeleton and attachable joint modules. The frame incorporates the (passive) joints, the structural elements linking the joints and the interfaces connecting exoskeleton and human. Joint modules can be installed on the passive joints to produce the desired exoskeleton functionality. Sp far the design incorporates on actuator module and two different spring modules that stabilize the joint around an equilibrium position.
The aim of the project is mainly to evaluate the feasibility of such a modular exoskeleton design and to evaluate if the resulting specifications are to some degree competitive with specialized systems.
Download CAD Data
If you are interested in the design please find the CAD data (STEP file) below.
Disclaimer!
Use at your own risk! In case you use this design or parts of it, you are responsible to ensure the safety and stability of any resulting exoskeleton device according to the laws and regulations of your country!
The download only includes the CAD files describing the geometrical design of the exoskeleton. In case you decide to manufacture and use any part of it, you are responsible to adapt the design and choose engineering materials as well as manufacturing techniques according to your requirements.
The file includes an assembly with all components. Please be aware that multiple modules are attached at each joint (hiding each other). So remove (or hide /set invisible) modules you are not interested in. If you have any questions don’t hesitate to ask.
Publications
V. Bartenbach, M. Gort and R. Riener. Concept and Design of a Modular Lower Limb Exoskeleton. In IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics – BioRob (2016)
Funding
This work was supported by the Swiss National Science Foundation through the National Centre of Competence in Research on Robotics.