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Technical University of Munich

Robotic Exoskeletons

Project title

Development of patient-specific lower limb Exoskeletons for Paraplegics

The robotic exoskeleton allows a wheelchair user to stand up
The lighweight structure is made from cast aluminium

Goal

Maximization of the biomechanical compatibility of robotic exoskeletons for paraplegics though customized light-weight structures and kinematics

Contact

M.Sc. Konstantin Strübig (wiss. Mitarbeiter)

Application

Robotic exoskeletons for paraplegics, which allow them to stand up and walk

Research topic

Automated design of lightweight structures based on anthropometric and kinematic measurements

State of the art

Heavy and complex exoskeletons with limited adjustability and simple monocentric joints

Drawbacks of the State of the Art

Insufficient biomechanical compatibility due to joint misalignments between the exoskeleton and the user leads to constraint forces in the user's joints and skin irritations

The exoskeletons has to be manually adjusted by an expert for each user in an iterative process, while the adjustment options increase the complexit and weight of the device

Concept

The individual biomechanics of the user are measured using motion tracking technology

Based on these measurements, an opimized exoskeleton kinematic including a polycentric knee joint are developped

The structural elements of the exoskeleton are then automatically designed to match the determined kinematic and are manufactured using aluminium casting in additively manufactured sand molds

Current Results

The first prototype is operational, while the automated measurement and design processes are under evaluation

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