Design of a Lower Leg Exoskeleton Using Microsoft Kinect

مرکز و کتابخانه مطالعات اسلامی به زبان های اروپایی

منو

" Design of a Lower Leg Exoskeleton Using Microsoft Kinect "
Bhat, Kulvas Ozcelik, Selahattin

Document Type	:	Latin Dissertation
Language of Document	:	English
Record Number	:	1110719
Doc. No	:	TLpq2488718348
Main Entry	:	Bhat, Kulvas
	:	Ozcelik, Selahattin
Title & Author	:	Design of a Lower Leg Exoskeleton Using Microsoft Kinect\ Bhat, KulvasOzcelik, Selahattin
College	:	Texas A&M University - Kingsville
Date	:	2019
student score	:	2019
Degree	:	M.S.
Page No	:	97
Abstract	:	This research is focused on gait rehabilitation of a subject who suffers from walking disability in the lower leg of the body that includes the knee and ankle. The idea behind this research is to help the person in their gait restoration by creating an Exoskeleton that could support the impaired limbs and give them the desired motion again. This research introduces the design of a two-degree freedom exoskeleton for the knee and ankle. An exoskeleton unit for walking is designed as a serial mechanism used for the entire leg or entire body, but this research presents a manipulator only for the knee and ankle. Working on the lower extremity of the body gives us an advantage of a much more workspace than any other part. The idea behind the exoskeleton is to target that group of individuals who have an external injury in the knee such as war veterans or people who suffered an accident causing the injury in the lower limb. The thesis is concerned with the movement in the knee so that the subject can walk as he used to before the injury since this is a two degree of freedom, so it is just concerned with the flexion and extension of the knee and ankle. Since this model is two degrees of freedom, so an RGB-D camera (Microsoft Kinect) is used to track the skeletal movements and derive the joints angles, based on the angle time series the torque for the individual joints is calculated. Then a motor is modeled in Simulink to provide the exoskeleton the desired motion. Then a SOLIDWORKS model is designed to provide a better understanding of the motion generated by the Exoskeleton.
Subject	:	Health sciences
	:	Mechanical engineering
	:	Physical therapy