Abstract: This paper will provide the kinematic and dynamic
analysis of a lower limb exoskeleton. The forward and inverse
kinematics of proposed exoskeleton is performed using Denevit and
Hartenberg method. The torques required for the actuators will be
calculated using Lagrangian formulation technique. This research can
be used to design the control of the proposed exoskeleton.
Abstract: Above Elbow Prosthesis is one of the most commonly
amputated or missing limbs. The research is done for modelling
techniques of upper limb prosthesis and design of high torque, light
weight and compact in size elbow actuator. The purposed actuator
consists of a DC motor, planetary gear set and a harmonic drive. The
calculations show that the actuator is good enough to be used in real
life powered prosthetic upper limb or rehabilitation exoskeleton.
Abstract: A 2-Degrees of freedom powered prosthetic wrist
actuator has been proposed that can provide the Abduction/Adduction
& Flexion/Extension movements of the human wrist. The basic
structure of the actuator is a Ball and Socket joint and the force is
transmitted from the DC geared servo motors to the joint through the
Bowden cables. The proposed design is capable of providing the
required DOF in both axes i.e. 85° & 90° in flexion extension axis.
The size and weight of the actuator lies within the ranges of an
average human being-s wrist.