eISSN: 2618-6446
Conferences Latest Issue Archive Future Issues About Us JOURNALS

SETSCI - Volume 3 (2018)
ISAS2018-Winter - 2nd International Symposium on Innovative Approaches in Scientific Studies, Samsun, Turkey, Nov 30, 2018

Mechanical Design and Finite Element Analysis of a Pneumatic Artificial Muscle Powered Lower Limb Exoskeleton (ISAS2018-Winter_44)
Haldun Köktaş1, Bahattin Kanber2*
1Bursa Technical University , Bursa, Turkey
2Bursa Technical University , Bursa, Turkey
* Corresponding author: bahattin.kanber@btu.edu.tr
Published Date: 2019-01-14   |   Page (s): 239-245
   |    9     4

ABSTRACT Lower limb exoskeletons are wearable robotic devices which either augment human power or facilitate a walking
ability for those who lost it by injury or aging. They have been getting more and more attention in the scientific community
thanks to its increasing functionality and availability. Today, several devices are being utilized by people themselves or
rehabilitation centers. Except the fixed gait training systems, these devices are anthropomorphic mechanical structures which
actuated by electric motors, hydraulic or pneumatic cylinders. However, another actuation system so-called pneumatic artificial
muscle (PAM) promises great advantages over its antecedents. It's more compliant, lighter and more powerful. Due to it being a
newer system, one can encounter with it in a few devices and these are either fixed or poorly investigated. This study, along with
its mechanical design choices, gives a deeper insight on usage of PAMs in a lower limb exoskeleton. First, the mechanical system
is designed in SOLIDWORKS with the principles of gait biomechanics. A light-weight design is aimed and a crutch-free system
are planned by placing PAM both sides. In order to examine its strength, finite element analysis is conducted for posture in
ANSYS. It is concluded that the structure can carry both its own and wearers weight. Besides the strength analysis, this study
infers a proof-of-concept that finite element analysis can be used to determine muscle forces for different scenarios when they
are placed properly.  
KEYWORDS Lower limb exoskeletons, pneumatic artificial muscle, PAM, finite element method, ANSYS
REFERENCES [1] Chen, B., Ma, H., Qin, L., Gao, F., Chan, K., Law, S., Qin, L., Liao, W. (2016). Recent Developments and Challenges of Lower Extremity Exoskeletons, Journal of Orthopedic Translation, 5, 26- 37
[2] General Electric Company, (1969), HARDIMAN I ARM TEST HARDIMAN I PROTOTYPE, PRO-JECT, New York [3] Zhiqiang, L., Hanxing, X., Weilin, L., Zheng Y. (2014).
Proceeding of Human Exoskeleton Technology and Discussions on Future Research, Chinese Journal of Mechanical Engineering, 27 (3), 437-44
[4] Zoss, A. B., Kazerooni, H., Chu, A. (2006) Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX), IEEE/ASME Transactions on Mechatronics, 11 (2), 128-138
[5] Zhiqiang, L., Hanxing, X., Weilin, L., Zheng Y. (2014). Proceeding of Human Exoskeleton Technology and Discussions on Future Research, Chinese Journal of Mechanical Engineering, 27(3), 437-44
[6] Wang, S., Wang, L., Meijneke, C., Asseldonk, E. V., Hoellinger, T., Cheron, G., . . . Kooij, H. V. (2015) Design and Control of the MINDWALKER Exoskeleton. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 23 (2), 277-286
[7] Zhao, Y., Xu, C., Luo, Y., & Wang, Y. (2008) Design, modeling and simulation of the human lower extremity exoskeleton, 2008 Chinese Control and Decision Conference, Chinese, 3335-3339
[8] Low, K., Liu, X., Yu, H. (2005) Development of NTU wearable exoskeleton system for assistive technologies, IEEE International Conference Mechatronics and Automation, 1099-1106
[9] Zhao, Y., Zhang, W., Ge, W., & Li, S. (2013). Finite Element Simulation of Soldier Lower Extremity Exoskeleton. Journal of Multimedia, 8(6), 705-711
[10] Riener, R., Lünenburger, L., Colombo, G. (2006) Human-centered robotics applied to gait training and assessment, The Journal of Rehabilitation Research and Development, 43 (5), 679
[11] Ding, B., Qian, J., Shen, L., Zhang, Y. (2012). Finite element analysis and optimized design of exoskeleton for lower extremity rehabilitation training, IEEE International Conference on Robotics and Biomimetics (ROBIO) (pp.1397-1402), Guangzhou China Dec 11-14.
[12] Pan, L., He, C., Li, Q. (2015). Structural Static Characteristic Analysis of Lower Limb Exoskeleton Based on Finite Element Modeling, 3rd International Conference on Mechanical Engineering and Intelligent Systems (pp.104-109), Yinchuan China, Aug .15-16
[13] Liu, F., Cheng, W., He, L. (2012). Finite Element Analysis of Portable Exoskeleton Based on Ergonomics Parameters Model, Applied Mechanics and Materials, 215-216, 168-173
[14] Tondu, B. (2012). Modelling of the McKibben artificial muscle: A review. Journal of Intelligent Material Systems and Structures, 23(3), 225-253.
[15] Costa, N., & Caldwell, D. G. (2006, February). Control of a biomimetic" soft-actuated" 10dof lower body exoskeleton. In Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. The First IEEE/RAS-EMBS International Conference on (pp. 495- 501). IEEE.
[16] Ferris, D. P., Gordon, K. E., Sawicki, G. S., & Peethambaran, A. (2006). An improved powered ankle–foot orthosis using proportional myoelectric control. Gait & posture, 23(4), 425-428.
[17] Beyl, P., Van Damme, M., Van Ham, R., Vanderborght, B., & Lefeber, D. (2014). Pleated pneumatic artificial muscle-based actuator system as a torque source for compliant lower limb exoskeletons. IEEE/ASME Transactions on Mechatronics, 19(3), 1046-1056.
[18] Noh, J., Kwon, J., Yang, W., Oh, Y., & Bae, J. H. (2016). A 4-bar mechanism based for knee assist robotic exoskeleton using singular configuration. In Industrial Electronics Society, 42nd Annual Conference of the IEEE (pp. 674-680)
[19] Godoy, J. C., Campos, I. J., Pérez, L. M., & Muñoz, L. R. (2018). Nonanthropomorphic exoskeleton with legs based on eight-bar linkages. International Journal of Advanced Robotic Systems, 15(1), 1-16
[20] De Leva, P. (1996). Adjustments to Zatsiorsky-Seluyanov's segment inertia parameters. Journal of biomechanics, 29(9), 1223-1230.

SET Technology - Turkey

eISSN  : 2618-6446

E-mail : info@set-science.com
+90 533 2245325

Tokat Technology Development Zone Gaziosmanpaşa University Taşlıçiftlik Campus, 60240 TOKAT-TURKEY
©2018 SET Technology