2024-03-29T06:35:10Zhttps://keep.lib.asu.edu/oai/requestoai:keep.lib.asu.edu:node-1583642021-08-27T02:47:01Zoai_pmh:all158364
https://hdl.handle.net/2286/R.I.57312
http://rightsstatements.org/vocab/InC/1.0/
2020
74 pages
Masters Thesis
Academic theses
Text
eng
poddar, souvik
Zhang, Wenlong
Lee, Hyunglae
Marvi, Hamidreza
Arizona State University
Masters Thesis Mechanical Engineering 2020
Current exosuit technologies utilizing soft inflatable actuators for gait assistance have drawbacks of having slow dynamics and limited portability. The first part of this thesis focuses on addressing the aforementioned issues by using inflatable actuator composites (IAC) and a portable pneumatic source. Design, fabrication and finite element modeling of the IAC are presented. Volume optimization of the IAC is done by varying its internal volume using finite element methods. A portable air source for use in pneumatically actuated wearable devices is also presented. Evaluation of the system is carried out by analyzing its maximum pressure and flow output. Electro-pneumatic setup, design and fabrication of the developed air source are also shown. To provide assistance to the user using the exosuit in appropriate gait phases, a gait detection system is needed. In the second part of this thesis, a gait sensing system utilizing soft fabric based inflatable sensors embedded in a silicone based shoe insole is developed. Design, fabrication and mechanical characterization of the soft gait detection sensors are given. In addition, integration of the sensors, each capable of measuring loads of 700N in a silicone based shoe insole is also shown along with its possible application in detection of various gait phases. Finally, a possible integration of the actuators, air source and gait detection shoes in making of a portable soft exosuit for knee assistance is given.
Mechanical Engineering
Finite Element modeling
Gait Sensing
Rehabilitation
Soft Exosuits
soft robotics
Wearable devices
Design of a Portable Pneumatic Exosuit for Knee Extension Assistance with Gait Sensing using Fabric-based Inflatable Insole Sensors