Force Sensor Protective Casing and System Design for a Lower Limb Exoskeleton

Abstract

For the purpose of developing lower limb exoskeleton task-invariant control for rehabilitation, I developed a flexible system to measure ground reactions. These forces are necessary to determine the participant's gait phase. We required a more flexible measurement system, as the previous system, a men's size 9 footplate with integrated sensors, was restrictive and cumbersome to a variety of participants. My project focused on the CAD design and manufacture of a protective casing for a force sensing resistor, along with he wiring, software, and assembly of the measurement system. I followed the typical design process, from concept generation, rapid prototyping and manufacture, assembly, and testing. All work was checked by my research mentor, Nikhil Divekar, and performed for the Locomotor Control Systems Laboratory (LocoLab), under Dr. Robert D. Gregg.