Izvedba eksoskeletona spodnjih okončin

diplomsko delo

Martin Fijavž (Author), Aleš Belšak (Mentor), Miran Ulbin (Co-mentor)

Abstract

V tem diplomskem delu je predstavljena izvedba eksoskeletona spodnjih okončin, ki omogoča hojo osebam s poškodovano hrbtenjačo, tako da zagotavlja potrebne momente v kolčnem in kolenskem sklepu. Naprava mase 11,2 kg je v obeh sklepih sposobna generirati največji moment 80 Nm, z gibljivostjo od 100° (upogib) do 35° (izteg) v kolčnem in od 105° (upogib) do 10° (izteg) v kolenskem sklepu. Energijo zagotavlja akumulator Li-Po-Fe, ki zadostuje za dve uri kontinuirane hoje. Skupna moč naprave je 160 W, pri čemer znaša povprečna moč kolčnega sklepa znaša 27 W, moč sklepa kolena pa je 46 W.

Keywords

konsturianje naprav;mehanizmi;eksoskeleton;kinematika;diplomske naloge;

Data

Language:	Slovenian
Year of publishing:	2012
Source:	Maribor
Typology:	2.11 - Undergraduate Thesis
Organization:	UM FS - Faculty of Mechanical Engineering
Publisher:	[M. Fijavž]
UDC:	621-11:[531.1:616.8-009.1](043.2)
COBISS:	16874518
Views:	968
Downloads:	67
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Implementation of a lower extremity exoskeleton
Secondary abstract:	This paper describes a powered lower-limb exoskeleton that is intended to provide gait assistance to spinal cord injured individuals by providing assistive torques at both hip and knee joints. The device has a mass of 11,2 kg and is capable of providing maximum joint torques of 80 Nm with hip and knee joint ranges of motion from 100° flexion to 35° extension and 105° flexion to 10° extension, respectively. A custom distributed embedded system controls the orthosis with power being provided by a lithium polymer battery, which provides power for two hours of continuous walking. The electrical power required at each hip and knee joint during gait is approximately 27 W and 46 W, respectively, contributing to the 160 W overall electrical power required by the device during walking.
Secondary keywords:	exoskeleton;design;kinematics;
URN:	URN:SI:UM:
Type (COBISS):	Bachelor thesis/paper
Thesis comment:	Univ. v Mariboru, Fak. za strojništvo
Pages:	VIII, 58, 3 f.
Keywords (UDC):	applied sciences;medicine;technology;uporabne znanosti;medicina;tehnika;engineering;technology in general;inženirstvo;tehnologija na splošno;mechanical engineering in general;nuclear technology;electrical engineering;machinery;strojništvo;applied sciences;medicine;technology;uporabne znanosti;medicina;tehnika;medical sciences;medicina;pathology;clinical medicine;patologija;klinična medicina;neurology;neuropathology;nervous system;nevrologija;nevropatologija;živčevje;
ID:	1027140