"Designing and Modeling an Exoskeleton Mobility Device for Individuals " by Dan O'Crowley

Date of Award

5-2025

Degree Type

Creative Project

Degree Name

Master of Science (MS)

Department

Mechanical and Aerospace Engineering

Committee Chair(s)

Tianyi He (Committee Chair)

Committee

Tianyi He

Committee

Matt Harris

Committee

Juhyeong Lee

Abstract

The objective of this project is to design and develop a lightweight mobility exoskeleton for individuals with paraplegia that enables transportation of the user in a standing position, supports the user during the sitting to standing transition, and can be loaded by the user into a vehicle. A device like this has the potential to mitigate many negative health impacts of seated mobility devices, reduce social barriers, increase job opportunities for the user, and improve independence, while providing cost savings for the users and the healthcare system.

The system consists of a 3-linkage inverted pendulum with motors at the knee and hip joints on top of a two-wheel base. The design, development, and testing of two prototypes are outlined. One was developed as a precursor to this work, and the second is the focus of this work.

The system dynamic model is developed using the Lagrange method with system parameters as a function of the user’s height and weight, allowing it to be easily customized for a wide variety of individuals. Analysis of the system is then performed, followed by the development of a LQR (Linear Quadratic Regulator) control for the wheel and joint torque inputs to stabilize the system at an equilibrium point.

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