Mechanical Redesign and Fabrication of a 12 DOF Orthotic Lower Limb Exoskeleton and 6 Axis Force-Torque Sensor
| dc.contributor.author | Goodson, Caleb Benjamin | en |
| dc.contributor.committeechair | Asbeck, Alan T. | en |
| dc.contributor.committeechair | Leonessa, Alexander | en |
| dc.contributor.committeemember | West, Robert L. | en |
| dc.contributor.department | Mechanical Engineering | en |
| dc.date.accessioned | 2020-10-28T08:00:10Z | en |
| dc.date.available | 2020-10-28T08:00:10Z | en |
| dc.date.issued | 2020-10-27 | en |
| dc.description.abstract | This thesis details several modifications to the mechanical design of the Orthotic Lower Limb Exoskeleton (OLL-E) that improve upon the functionality and manufacturability of parts and their assemblies. The changes made to these parts maintain or improve the factor of safety against yield and fatigue failure as compared to the original designs. Design changes are verified by FEA simulations and hand calculations. The changes included in this thesis also allowed parts that were previously difficult or impossible to manufacture using traditional methods to be made in house or outsourced to another machine shop. In addition to the mechanical design changes, this thesis also details the design and implementation of a six axis force-torque sensor built into the foot of OLL-E. The purpose of this sensor is to provide feedback to the central control system and allow OLL-E to be self-balancing. This foot sensor design is calibrated and initial results are discussed and shown to be favorable. | en |
| dc.description.abstractgeneral | Recent developments in the fields of robotics and exoskeleton design have increased their feasibility for use in medical rehabilitation and mobility enhancement for persons with limited mobility. The Orthotic Lower Limb Exoskeleton (OLL-E) is an exoskeleton specifically designed for enhancing mobility by allowing users with lower limb disabilities such as spinal cord injuries or paraplegia to walk. The research detailed in this thesis explains the design and manufacturing processes used to make OLL-E as well as providing design details for a force sensor built into the exoskeleton foot. Before manufacturing could take place some parts needed to be redesigned and this thesis provides insight into the reasons for these changes. After the manufacturing and design process was completed the OLL-E was assembled and the project can now move forward with physical testing. | en |
| dc.description.degree | Master of Science | en |
| dc.format.medium | ETD | en |
| dc.identifier.other | vt_gsexam:27681 | en |
| dc.identifier.uri | http://hdl.handle.net/10919/100734 | en |
| dc.publisher | Virginia Tech | en |
| dc.rights | In Copyright | en |
| dc.rights.uri | http://rightsstatements.org/vocab/InC/1.0/ | en |
| dc.subject | Exoskeleton | en |
| dc.subject | Finite element method | en |
| dc.subject | Sensor Design | en |
| dc.subject | Fabrication | en |
| dc.subject | Mechanical Design | en |
| dc.title | Mechanical Redesign and Fabrication of a 12 DOF Orthotic Lower Limb Exoskeleton and 6 Axis Force-Torque Sensor | en |
| dc.type | Thesis | en |
| thesis.degree.discipline | Mechanical Engineering | en |
| thesis.degree.grantor | Virginia Polytechnic Institute and State University | en |
| thesis.degree.level | masters | en |
| thesis.degree.name | Master of Science | en |
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