Underactuated Exoskeletons for Lifting, Carrying, and Walking Assistance

Exoskeletons are rapidly emerging from the realm of science-fiction myth to practical reality in everyday life. Various designs have provided viable means for individuals to regain capabilities that were lost or perform tasks not previously possible by their ability alone. In this research, I propose two novel exoskeletons for walking assistance and heavy load carriage. The first exoskeleton can be used to provide assistance for walking in various applications such as industrial productivity, rehabilitation, and military or space training. We introduce a design for a lower body wearable device that supports up to 80% of the user's body weight (667 N peak force) with a single actuator on each leg. Its underactuated design directs force through the user's center of mass with a single sprocket-chain driven prismatic actuator on each leg, allowing for natural gait and mobility. The device is optimized for simplicity, ease of assembly, low cost, and weight. The second design aims to counteract the one of the leading causes of injury in the workplace, repetitive and heavy lifting. The Heavy Lift and Carry Exoskeleton (HeavyLC Exo) is capable of safely lifting and carrying loads up to 36 kg (80 lbs) while minimizing the number of actuators to reduce weight and complexity. The HeavyLC Exo allows the user to direct the object, pause and hold the object steady mid-lift, and follow the natural kinematics of lifting. It is secured to the user with shoulder, chest, and dual thigh straps, along with an adjustable waist belt and overshoe attachment. Powered by two 14.8 V batteries and an off-board air compressor, the HeavyLC Exo has a total of 20 DOF, with 6 actuated DOF and 14 free DOF. The arms use only two actuators each, providing powered lifting and arm retraction/extension, and allowing a wide range of body postures; the legs are powered by single pneumatic actuators on each leg connected to the foot accompanied by a passive spring element to prevent excessive pelvic tilt and leg abduction during swing. The control system requires directional forces from the user at the tool handle of 19 N (4.3 lbf) on average. Current design limitations necessitate the user to provide up to 280 N (62.9 lbf) at the hip during worst load conditions, and future design optimization is proposed. A fully functional prototype of HeavyLC Exo is built, fully tested, and analyzed for improvement.

Name thesis:degree_name

Master of Science

Level thesis:degree_level

masters

Discipline thesis:degree_discipline

Mechanical Engineering

Department dc:contributor.department

Mechanical Engineering

Grantor dc:publisher

Virginia Tech

Year dc:date.issued

2023

Author dc:creator

• Folta, Nathan Allen

Chair dc:contributor.committeechair

• Asbeck, Alan T.

Committee members dc:contributor.committeemember

• Losey, Dylan P.
• Leonessa, Alexander

• Assistive robotics
• injury prevention
• micro-gravity simulation
• design for manufacture

Statement dc:rights

• In Copyright

Licence dc:rights.uri

• http://rightsstatements.org/vocab/InC/1.0/

Language dc:language.iso

en

Dc Identifier Other

vt_gsexam:38005

OAI identifier oai:identifier

oai:vtechworks.lib.vt.edu:10919/115841