Supervisor

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Trott, Robert (Dr)
robert.trott@flinders.edu.au
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Project description

The Flinders University Lower Limb Exoskeleton uses the Fourier ExoMotus X2 Exoskeleton and the CORC open-source platform. The Exoskeleton is primarily a research tool, and there are several areas for research and development including but not limited to:
  • Developing a ROS2 environment and validating the performance of the X2
  • Exploration of Teacher-Student rehabilitation paradigms. This continues prior student work and can include Human Machine Interface design and Control Systems design and testing
  • Joint design. The X2 is currently restricted to active movement in the sagittal plane and it is desirable to have hip and ankle abduction/adduction. This project would see the design and development of novel joints that permit out of sagittal motion.
  • Series Elastic Actuator (SEA) design and development. This project would see the design and development of a custom SEA for the X2. SEAs offer favourable performance characteristics for devices that interface with compliant medium such as people.
  • Power and communication system development. This project would see the full redesign of the power and communication systems in the exoskeleton. The current systems can be streamlined to be more potable and lower profile which is desirable in human interfacing devices.
  • Remote control. The X2 Exoskeleton with CORC currently operates with a tethered (cabled) connection. This project would explore secure wireless connectivity that preserves current and future functionality and performance.
  • Control System Development. This project would explore the control systems that have been implemented in lower limb exoskeletons and design, implement, and validate a subset of these with existing performance.
  • Analog Sensing Unit remake and integration. The X2 Exoskeleton uses several different microprocessors that all communicate with a central Controller. The current ASU has limitations and can be implemented with a smaller form factor and to increase the functionality of the exoskeleton by adding sensing features.

Co-supervisors

A/Prof Russell Brinkworth Dr. Jonathan Wheare A/Prof David Hobbs Prof Karen Reynolds

Assumed knowledge

Depending on branch of project:
  • Software and Robotics
  • Mechanical Design and Biomechanics
  • Electrical, Electronics and Communication
  • Control Systems

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