Abstract
In recent years, people who have diseases of knee joint is increasing, This thesis is aimed to design a wearable assisted lower limb orthoses for person who has hemiplegia or degradation of knee joint, this orthoses will generate force in real-time to assist the wearer to walk, sit-to-stand and ascent/decent the stair. To obtain the muscle force of wearer, this thesis proposed a method to combine with the processing of electromyography and lower limb orthose, and using the EMG electrodes on the thigh to estimate knee torque together with foot sensor to determine user’s gait, this orthoses will provide appropriate force in real-time to assist the wearer. The proposed orthoses design uses spring as an energy storage element, while DC motor is adopted as actuator, when DC motor pull the cable, the spring will store energy, if DC motor relaxes the cable, the spring will return potential energy to assist user. This orthoses uses portable battery, it can last for one hour, and from experimental results, while wearing the wearable assisted lower limb orthoses, it could assist the knee torque up to 40%.