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Introduction

Exoskeleton technology has gained significant attention in recent years for its potential in rehabilitation and augmentation of human movement. These wearable robotic devices have shown promising results in assisting individuals with movement impairments to regain mobility and strength. Additionally, exoskeletons have also been explored for enhancing the physical capabilities of healthy individuals in various applications such as military, industrial, and sports. As a PhD student in the field of robotics and biomechanics, this thesis focuses on investigating the design, development, and evaluation of exoskeletons for both rehabilitation and augmentation purposes.

Background of Study

The concept of exoskeletons dates back to the early 1960s when the first powered exoskeleton was developed for military applications. Since then, advancements in materials, sensors, actuators, and control systems have paved the way for the widespread adoption of exoskeleton technology in various fields. In healthcare, exoskeletons have shown significant potential in assisting individuals with spinal cord injuries, stroke, and other neurological conditions to improve their mobility and quality of life. Furthermore, exoskeletons have also been explored in sports performance enhancement and industrial applications to reduce the risk of musculoskeletal injuries.

Problem Statement

Despite the promising results of exoskeleton technology, there are still several challenges that need to be addressed. These include the high cost of exoskeleton devices, limited adaptability to individual users, and the need for more robust control algorithms for optimal performance. Additionally, there is a lack of standardized protocols for evaluating the effectiveness and safety of exoskeletons in different applications. This thesis aims to address some of these challenges by proposing novel design concepts and control strategies for exoskeletons for rehabilitation and augmentation.

Objective of Study

The main objective of this study is to design, develop, and evaluate an exoskeleton system for rehabilitation and augmentation purposes. Specifically, this study aims to:

1. Investigate the state-of-the-art in exoskeleton technology for rehabilitation and augmentation.
2. Design and develop a custom exoskeleton system for assisting individuals with movement impairments.
3. Evaluate the performance and user acceptance of the exoskeleton system through experimental studies.
4. Propose new control strategies to improve the functionality and adaptability of the exoskeleton system.

Limitation of Study

This study is limited to the design and evaluation of a single exoskeleton system for rehabilitation and augmentation purposes. The findings of this study may not be generalizable to all exoskeleton devices available in the market. Additionally, this study is limited to a specific target population and may not be applicable to individuals with different underlying conditions.

Scope of Study

This study focuses on exoskeleton technology for rehabilitation and augmentation purposes. The scope of this study includes the design, development, and evaluation of an exoskeleton system for assisting individuals with movement impairments. The study also explores the potential of exoskeletons in sports performance enhancement and industrial applications.

Significance of Study

The findings of this study have the potential to contribute to the field of exoskeleton technology by proposing novel design concepts and control strategies. The results of this study may also have implications for healthcare professionals, researchers, and device manufacturers working in the field of rehabilitation and augmentation. Additionally, this study may provide valuable insights for policymakers and regulators in developing standards and guidelines for the safe and effective use of exoskeleton technology.

Structure of the Thesis

This thesis is structured into five chapters as follows:

Chapter 1: Introduction
1.1 Introduction
1.2 Background of Study
1.3 Problem Statement
1.4 Objective of Study
1.5 Limitation of Study
1.6 Scope of Study
1.7 Significance of Study
1.8 Structure of the Thesis
1.9 Definition of Terms

Chapter 2: Literature Review
2.1 Evolution of Exoskeleton Technology
2.2 Applications of Exoskeletons in Rehabilitation
2.3 Applications of Exoskeletons in Augmentation
2.4 Control Systems for Exoskeletons
2.5 User Experience and Acceptance of Exoskeletons
2.6 Challenges and Limitations of Exoskeleton Technology
2.7 Future Directions in Exoskeleton Research

Chapter 3: System Design and Methodology
3.1 Design Requirements of Exoskeleton System
3.2 Selection of Actuators and Sensors
3.3 Control System Architecture
3.4 Integration of User Interface
3.5 Safety Mechanisms
3.6 Experimental Protocol
3.7 Data Analysis Methods
3.8 Ethical Considerations

Chapter 4: System Implementation
4.1 Fabrication of Exoskeleton Prototype
4.2 Calibration and Testing Procedures
4.3 Software Development for Control System
4.4 User Training and Familiarization
4.5 Pilot Testing
4.6 Performance Evaluation Metrics
4.7 Iterative Design Process

Chapter 5: Conclusion and Summary
5.1 Summary of Findings
5.2 Discussion of Results
5.3 Implications for Practice and Research
5.4 Limitations of the Study
5.5 Recommendations for Future Work

Thesis Overview: Exoskeletons for Rehabilitation and Augmentation

Exoskeleton technology has shown great potential in assisting individuals with movement impairments to regain mobility and strength. This thesis aims to investigate the design, development, and evaluation of exoskeleton systems for both rehabilitation and augmentation purposes. The study focuses on exploring the state-of-the-art in exoskeleton technology, proposing novel design concepts, developing control strategies, and evaluating the performance and user acceptance of the exoskeleton system through experimental studies. The findings of this study may have implications for healthcare professionals, researchers, device manufacturers, policymakers, and regulators in the field of rehabilitation and augmentation. Through a structured approach, this thesis aims to contribute to the advancement of exoskeleton technology and provide valuable insights for future research and development.

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