Modular Design of Full Body Exoskeleton suit for Industry, Construction and Military Purpose

Abstract

Exoskeleton suits can be considered as a wearable robotic item ,where the main inution is to increase,improve& boost the physical performance of operator/user by a desired margin , it has a great practicality in the present time as it can be implemented in a variety of filed extending from Health sector to industries .The scope of this is to design a full-body,rigid,Active,performance type mobile-exoskeleton prototype, by targeting it as mainly applicable for the Industry sector , Defence sector& Civil-(construction,fire & safety department, etc) Sectors , which has seen to be taking a leap in to this genre .This paper explicates the methodology for the design which was modeled in “Solidworks” and analysys of mechanical strucuture– performed by “Ansys Workbench”& selection of actuation mechanism with a coustomised design which was validated by a series of analysis in “Altiar Flux Motor” , this paper also scrutinize very succinctly the “gait” cycle & its phases ,itsummarise the necessity of the “gait” analysis- which was performed by “Opensim”from which data was acquired for the analysis of designed prototype& for the guidance inactuation of the prototype by prediction & restriction of drive controller valueto the normal gait values during locomotion by “gait assist function”,where the actuator control is primarly by the sensing of a series of “Strain guage” belts attached to the users muscles , 4 different control drivers used for actuation out of which for thigh joint the control drive was coustamised , the battery houses 728 high-performance Lithium-ion cells 0f “Panasonic-NCR18650B 3400MAh”,for cooling system a common aluminium heat sink was used.the other critical factors which was considered during the designing was cost-effectiveness, minimal maintenance, ergonomic , efficiency and safety of the designed prototype is also pithily considered . the total weight of the designed prototype model was 79Kg & was able to lift & locomote at 1.36m/s with apayload of 258kg.