하지 마비 장애인을 위한 앞에서 착용 가능한 외골격 로봇 무릎-정강이 모듈 설계

Abstract

In this study, a front-wearable powered exoskeleton was developed to aid independent mobility for individuals with paraplegia. This innovation permits users to don the device unassisted, rectifying the backward center of mass shift and enhancing the previously cumbersome walking posture associated with traditional designs. The powered exoskeleton cradles the torso, ankles, and shanks from the front, and grips the thighs from the sides, thus preventing physical interference and maintaining structural integrity under diverse loading conditions. The design's durability was confirmed through finite element analysis method (FEM) and practical testing with the actual prototype, demonstrating its prospective impact on improving life quality for those with paraplegia.