Modelling and design of a reduced scale biped-wheeled support

This thesis shows the idea to create a complete support to people affected by complete locked-in syndrome in order to let them to make rehabilitation and allow them to perform a gait cycle. This work first of all focuses on the modelling and design of the structure through Solidworks and on its dynamic analysis on SimMechanics. At the end it is presented the real 3D printed model and the particular choices about its layout are discussed. The support and the manikin must have the same movements and it is important to consider not only the behavior of the entire structure but also the consequences that the input given to the support have on the manikin. Indeed this exoskeleton is controlled by input of position or torques and by a right control of these it can be controlled the position of the manikin. Two difference design of the prototype were made. The first one has only five actuators while the second one has seven actuators in order to have a control of each part of the support and it can be considered the upgrade of the previous one. The choice of the movement of the actuators it is been evaluated by importing the CAD model to SimMechanichs. Indeed what we were looking for was the correct choice of input in order to control the trade of the ankle, knee and hip angle of the manikin. In order to make this it is been analysed the gait cycle of a medium person and it is been recreated the most similar trade.