Lower-Limb Robotic Exoskeleton with Energy Storage and Reversible Mechanisms Using Brain Signal Activation

In the current study, a lower limb exoskeleton is developed to assist or rehabilitate the physically challenged person who has lost their mobility due to SCI. In order to overcome energy-storing issues related to existing designs, the device uses a spring and camshaft system which is integrated with the robot structure to reduce the required energy by absorbing the bodyweight into spring potential energy and released by the cam design. Hence the motor load is reduced comparatively and also the torque compensation was improved. The control of the exoskeleton is carried out by analyzing brain signals (EEG) and eye movement signals (EOG), which are combined with the control system to perform daily activities such as walking, turning, and sit-stand.