Design, Control And Fabrication of Knee Exoskeleton For Assistive

Walking
A project proposal

Under the supervision of

Dr. Majid Hamid Koul
By
1. Falak Fatima ME-17-04
2. Mahshida Hamid ME-17-16

Department of Mechanical Engineering

Islamic University Of Science And Technology Awantipora.
 Introduction
• Disability is an impairment which in interactions with various barriers may hinder a persons full and effective
participation in the society on equal basis with others.
• Among various strokes, lower limb disability has also become the biggest obstacle, which impact life qualities of a
person.
• Assistive exoskeletons are designed to provide strength to overcome the gait disorders.
• Efforts are continuously being made to develop a support for knee joint that alleviate patient’s discomfort and
increase stability.
• In our study we will be a developing a knee exoskeleton to assist children with dysfunctional knee joint.
Continued..

Fig 1.1 Exoskeleton prototype worn by user.

 Objectives
• Analysis and design of an exoskeleton to assist knee joint in children.
• Simulation and implementation of control strategy.

• Fabrication of exoskeleton prototype and integration.

Methodology
Analysis/Synthesis

CAD model PID control of DC motor

design PID control(Simulink)
and optical encodertuator
mechanism

Stress Analysis

Assembly and
Fabrication(3D printing) integration

Implementing control
Validation Strategy
(PID)simscapes
GANTT CHART
Activity week 1 Week 2 Week 3 Week4-5 Week 5-6
Synthesis of
mechanism Week
Cad model Activity
design .

Stress analysis

PID control of
mechanism
PID control of
dc motor and
encoder
Fabrication
Assembly and
integration
Validation
Budgetary Requirement
Head Amount

DC motor with encoder (30-60W) and Driver 3500

Bearings/Lead Screw/Belt/Nuts/Screws Etc 2000

Carbon fibre tubes (part of mechanism) 1500

Microcontroller 500

3D Printer Facility -

Battery /Power Supply 500

Total 8000 (INR)