Development of a low-cost exoskeleton for rehabilitation and mobility

Abstract

Paralysis is detrimental to people in catastrophic ways: losing income opportunities, becoming a burden to their friends and family, further physical deterioration, and the combination of these occurrences can often lead to depres-sion. In third world countries, suffering from paralysis can be extra deleterious, where a large proportion of the population is engaged in some form of physical labor. The number of people exposed to paralysis risk factors is also increasing, with more and more people having hypertension, smoking, and other abnormal-ities. Besides, low workplace safety precautions may lead to an increased risk of spinal cord injury in developing nations. However, very few solutions have been developed to aid people in third-world countries suffering from paralysis. In this paper, a low-cost upper arm exoskeleton design has been presented that can be controlled biometrically and can also be used as an analytical tool. Two additional input options are added to the system to reduce the cost and its calibra-tion. The system has been tested in a lab environment to assure the accuracy of actuation and measurement. Some of the limitations of the current prototype and the prospect for its further enhancement have been highlighted.