Building of an exoskeleton for lower limbs

• Grant number: 06/00006-5
• Support Opportunities: Regular Research Grants
• Start date: June 01, 2006
• End date: May 31, 2008
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Adriano Almeida Gonçalves Siqueira
• Grantee: Adriano Almeida Gonçalves Siqueira
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

This project deals with the building of an exoskeleton for lower limbs based on a Reciprocating Gait Orthosis (RGO). Some natural characteristics of the human walking will be considered, for example, the knee flexion of the swing leg and the foot rotation. An identification system for the dynamic characteristics of the users and their walking will be developed based only on information os direct sensors (force and position sensors). To the exoskeleton gives a smooth and robust walking against external disturbances and terrain variations, robust controllers will be implemented. (AU)