Quasi-Passive Lower and Upper Extremity Robotic Exoskeleton for Strengthening Human Locomotion

Most of the robotic exoskeletons available today are either lower extremity or upper extremity devices targeting individual orthotic (elbow, knee, and ankle) joints. However, there are a few which target both lower and upper extremities. This chapter aims to propose a design for a wearable quasi-passive lower and upper extremity robotic exoskeleton (QLUE-REX) system, targeting disabled users and aged seniors. This exoskeleton system aims to improve mobility, assist walking, improve and enhance muscle strength, and help people with leg/arm disabilities. QLUE-REX combines elbow, knee, and ankle joints with options to synchronize individual joints’ movements to achieve the following: (1) assist in lifting loads of 30–40 kilograms, (2) assist in walking, (3) easy and flexible to wear without any discomfort, and (4) be able to learn and adapt along with storing time-stamped sensor data on its exoskeleton storage media for predicting/correcting users’ movements and share data with health professionals. The research’s main objective is to conceptualize a design for QLUE-REX system. QLUE-REX will be a feasible modular-type wearable system that incorporates orthotic elbow, knee, and ankle joints effectively in either synchronous or asynchronous modes depending on the users’ needs. It will utilize human-walking analysis, data sensing and estimation technology, and measurement of the electromyography signals of user’s muscles, exploiting biomechanical principles of human-machine interface.