Design and Control of a Mechatronic Exoskeleton for Rehabilitation Purposes

Abstract

The field of rehabilitation engineering has witnessed significant advancements in recent years, with the development of mechatronic exoskeletons playing a crucial role in enhancing the rehabilitation process. This paper presents the design and control of a novel mechatronic exoskeleton specifically designed for rehabilitation purposes. The primary objective of this research is to provide a comprehensive framework that enables effective and safe assistance during the rehabilitation process.The design phase of the mechatronic exoskeleton focuses on achieving a balance between functionality, comfort, and ergonomics. Extensive biomechanical analysis was conducted to ensure compatibility between the exoskeleton and human anatomy. The exoskeleton's structural components were designed using lightweight and durable materials to optimize portability and minimize user fatigue. Additionally, the design incorporates adjustable joint mechanisms to accommodate a wide range of motion and to adapt to individual user requirements. The design and control of mechatronic exoskeletons for rehabilitation purposes hold great potential to revolutionize the field of physical therapy. These wearable robotic systems offer personalized assistance and targeted therapy to individuals with physical impairments, aiding in their recovery and improving their quality of life. Through careful consideration of comfort, ergonomics, actuation, sensing, control strategies, and safety measures, mechatronic exoskeletons can provide effective and safe rehabilitation solutions. Continued research, technological advancements, and collaboration between various disciplines will further enhance the capabilities and impact of these innovative devices in the future.