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PhD theses completed in 2016

This paper presents the design and analysis of a passive weight-support lower-extremity-exoskeleton (LEE) with compliant joints to relieve compressive load in the knee. With measured plantar forces and joint trajectories, a leg-dynamic model and biomechanical model are derived for calculating the knee bone-to-bone reaction forces in stance phase. Based on the knowledge of a kneejoint kinematics, an adaptive knee-joint exoskeleton has been designed to eliminate negative effects associated with the closed leg-exoskeleton kinematic chain on a human knee. With the gait analyses, a gait-based LEE to support human bodyweight (BW) and accommodate bio-joint motion during walking is designed. The excellent agreement in the joint trajectories with/without LEE suggests that the adaptive LEE does not influence the human gait. The reduced plantar forces and knee forces validate LEE’s effectiveness in supporting about 20% of BW. The stored potential energy of hip spring saves 61.5% of energy needed to swing the LEE. A sensor-guided gait-synchronization mechanism is designed, which provides motion to a (stroke rehab) passive leg in sync with the healthy (active) leg in the swing phase during walking. Results validate the effectiveness of the sensor-guided designs for reducing joint-angle error due to LEE weight on the lower-leg.