Bourgeois, Shaun Paul - 7-degree-of-freedom hybrid-manipulator exoskeleton for lower-limb motion capture...

This thesis has been approved for inclusion in the SFU Library.
Publication of this thesis has been postponed at the author's request until 2019-04-18.
Term: 
Spring 2018
Degree: 
M.A.Sc.
Degree type: 
Thesis
Department: 
School of Mechatronic Systems Engineering
Faculty: 
Applied Sciences
Senior supervisor: 
Siamak Arzanpour
Co-supervisor, if any: 
Edward Park
Publishing Documentation
Postponement release date: 
Thu, 2019-04-18
Thesis title: 
7-degree-of-freedom hybrid-manipulator exoskeleton for lower-limb motion capture
Given Names: 
Shaun Paul
Surname: 
Bourgeois
Abstract: 
Lower-limb exoskeletons are wearable robotic systems with a kinematic structure closely matching that of the human leg. In part, this technology can be used to provide clinical assessment and improved independent-walking competency for people living with the effects of stroke, spinal cord injury, Parkinson’s disease, multiple sclerosis, and sarcopenia. Individually, these demographics represent approximately: 405 thousand, 100 thousand, 67.5 thousand, 100 thousand, and 5.9 million Canadians, respectively. Key shortcomings in the current state-of-the-art are: restriction on several of the human leg’s primary joint movements, coaxial joint alignments at the exoskeleton-human interface, and exclusion of well-suited parallel manipulator components. A novel exoskeleton design is thus formulated to address these issues while maintaining large ranges of joint motion. Ultimately, a single-leg unactuated prototype is constructed for seven degree-of-freedom joint angle measurements; it achieves an extent of motion-capture accuracy comparable to a commercial inertial-based system during three levels of human mobility testing.
Keywords: 
Lower-limb exoskeleton; Motion capture; Hybrid manipulator; Parallel manipulator; Kinematic analysis; Electromechanical motion tracking
Total pages: 
262