Mobile exoskeletons, such as the Hybrid-Assistive Limb (HAL) and ReWalk can be utilized during rehabilitation to assist in walking by offering body weight support, additional torque at the joints, and programmed healthy gait movements. The results of clinical trials for such devices are qualified by ease of use and comfort, as well as as well as gait performance improvements. Calculated and measured kinematic and dynamic data, however, are seldom the focus of viability reports or articles regarding the effectiveness of rehabilitative exoskeletons. Kinematic and dynamic analyses are being applied to the design of a lower-limb exoskeleton for gait rehabilitation in this report to quantify the effects of a device under the influence of numerous internal and external forces.
Worcester Polytechnic Institute
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