FesRobex Exoskeleton

Introduction

Lately, exoskeletons are designed to provide strength in gait and heavy transport loads. There are also designs for assisting people with disorders in motion or older adults. Gait rehabilitation is one of the most significant challenges for society in the coming years due to population ageing and the increase of diseases affecting motion. Partial or total paralysis of one side of the body due to injuries in the motor centres of the brain is called Hemiplegia. Hemiplegia is a disorder that causes one-half of the human body to fail to perform its functions. This disorder is caused mainly due to stroke, and in many cases, it is hereditary. Recovery from a stroke is complex, and the treatment is prolonged. Wearable robotics is an area that provides solutions for such problems. A wearable robot extends, complements, or empowers the human limb where it is worn. These kinds of robots are classified according to the function they perform:

• Empowering robotic exoskeletons: These kinds of robots are known as extenders since they extend the strength of the human hand beyond its natural ability while maintaining human control of the robot.
• Orthotic robots: An orthosis maps the anatomy of a limb to restore lost functions. The robotic counterpart of orthosis is robotic exoskeletons that complement the ability of the limbs. Exoskeletons are also capable of restoring handicapped functions.
• Prosthetic robots: These robots are devices that fully substitute lost limbs [1].

Figure 1 shows two examples of wearable robots. The scientific community differentiates exoskeletons from orthosis by defining the former as the devices that enhance the physical capabilities of wholesome users and the latter as the devices that assist persons with limb impairments [2]. Despite their differences, both devices act in parallel with the limb. In the medical field, in combination with rehabilitation therapies, exoskeletons can help patients with spinal cord injuries, strokes, and lower limb paralysis caused by hemiplegia [1].

Figure 1. (a) Lower limb orthotic exoskeleton, (b) lower limb prosthetic robot [1]

Figure 2 shows the robotic exoskeleton drawing showing the joints of the actuators. We are developing a hybrid rehabilitation system (FesRobex) combining Functional Electrical Stimulation (FES) and an exoskeleton to control patients’ gait with lower limb mobility problems.

Figure 2. Robotic exoskeleton design plan of the Hybrid Exoskeleton FesRobex (Autocad design).