Indian Journal of Science and Technology

Abstract

Objective: The first ever exoskeleton came in picture in 1960s which increases the ability of a human body. This paper will provide a brief idea about the mechanical design of ongoing researches by astonished researchers and institutes in the field of exoskeleton. Statistical Analysis: There are many researches going on in the field of military. For this work, we have referred many designs such as BLEEX, HANDEXOS, LOPES, NEUROExos etc. on various grounds, for example DOFs for various joints, material used, strength of exoskeleton and other mechanical aspects. It also focuses on the various actuators and motors which are being used or have been used in exoskeletons, such as DC servo motors, PMA, PAM etc. A total of 15 designs have been reviewed in this work. Findings: Here exoskeleton are categorised under Palm Exoskeleton, Upper Limb Exoskeleton and Lower Limb Exoskeleton. Other than these there are two kinds of exoskeleton on the basis of their uses i.e. Rehabilitation purposes and Enhancement purposes. Some enhancement purposes exoskeletons do have a payload value of 1000 N which are being used, whereas for rehabilitation purposes exoskeletons, the sensitivity is very high. Heavy duty actuators are used in enhancement purposes exoskeletons and cables are used for guiding rehabilitation purpose exoskeleton. Application/Improvements: This research supports the idea of producing a full body exoskeleton which till now is not seen. We also suggest introducing EMC EGC to the field of exoskeleton.
Keywords: Actuators, Exoskeleton, Lower Limb Exoskeleton, Rehabilitation, Upper Limb Exoskeleton, Wearable Robotic Suite