This presentation talks about the design and development of a sophisticated exoskeleton named "Rehabilitation Assistance Exo - Skeleton (RAES)" which helps paraplegic patients to walk again.

1. Rehabilitation Assistance Exo - Skeleton (RAES)
TEAM MEMBERS:
Mohammed Abdul Mojiz Siddiqui – MECH
Syed Ibrahim Shakir –E.C.E
Mohammed Zain Farooqi –E.C.E
Mohammed Furqan Al Hasan – E.C.E
Syed Jameel Ahmed – E.C.E
Departments Involved:
Mechanical Engineering
Electronics and Communications Engineering

2. PROBLEM STATEMENT
• “The prevalence of gait disorders increases from 10 % in people aged 60–
69 years to more than 60 % in community dwelling subjects aged over
80 years.” - Gait disorders in adults and the elderly – An article in US National Library of
Medicine National Institutes of Health.
MOTIVATION
• An attempt to reduce the cost and weight of the system.
• A background in Robotics encourages us to help solve this issue.
• To design a walking assistance Extremity suit that reduces the load and
makes walking easier
• by reducing the weight exerted on the calf muscles in linear human gait pattern.

3. INTRODUCTION
An Exo-skeleton is a wearable mobile machine that may be
powered by a system of:
• Hydraulics
• Pneumatics
• Motors
Or a combination of these
for reduced effort and increased endurance.

4. OBJECTIVE
1. To Replicate Human Gait Pattern
2. To Reduce the price .
3. Stress Reduction and Increased longevity.
4. Minimization of weight of the system.
5. Rehabilitation of paraplegic patients to increase strength, improve
endurance of
the patients at a very low cost.

5. PREVIOUS PROJECTS
• Previous work done on Exo-Skeletons by various universities:
• Exoskeleton Walking Aid : Institute Mihailo Pupin, Yugoslavia
• BLEEX : University of California, Berkeley
• Powered Limb Orthosis : University of Michigan
• HAL : University of Tsukuba, Japan and Cyberdyne Systems
Power
Assisting
Suit
BLEEX

6. APPLICATION SCOPE
• Rehabilitation
• For people with gait disorders
• For Paraplegic people
• For people who experience difficulties in walking.
• Military and Defense
• Industrial Sectors which require heavy labour

7. DESIGN METHODOLOGY
• Mechanical Considerations
 Type of Actuation
 Number of Actuators
 Forces acting on different part of the extremity and the human body
 Torque Calculations
• Electronic Considerations
o Intention Analysis Sensors.
o Feed back and positional Sensors.
o Simultaneous execution.
o Hydraulic Pressure control.
o Checking parameters of improvement with and without the support
provided.
o Estimation of Center of Mass of the human body during
motion.

8. WORKING & INTENTION ANALYSIS
• Human-robot interaction (HRI) - Assistive robotics.
• Human intention recognition – EMG & IMU.
• Several muscle movements are performed to represent different commands
to the exoskeleton.
• EMG sensor is used on each muscle of the leg to determine the
intention of the patient to walk and the command are send to the motors.
EMG SENSORBLOCK DIAGRAM OF THE EMG

9. ELECTRONIC COMPONENTS
Pressure pads
Arduino Due
Microcontroller
External Encoder
ObluInertial Measurement Unit

10. PROTOTYPE - I PROTOTYPE - II