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Structural optimisation of a lower limb exoskeleton for human locomotion assistance
Author(s)
Kabila, Nicla
Date Issued
2026
Type
master thesis
Publisher
Cape Peninsula University of Technology
Abstract
This thesis looks at the structural optimisation of a Lower Limb Exoskeleton (LLE) used for human locomotion assistance. An LLE is a wearable robotic device used to assist individuals with mobility impairment to walk, particularly individuals suffering from lower limb paraplegia due to strokes, spinal cord injury, etc. Research shows that LLEs are relatively heavy and as a result, are inefficient and not easy to transport. A high cost is also associated with designing, testing and manufacturing an LLE. Consequently, only a few LLEs have been commercialised, and wheelchairs remain the most efficient and affordable form of locomotion. This paper aims to optimise an LLE structure by reducing its weight while maintaining structural integrity. The thesis focuses on investigating alternative materials with a high strength-to-weight ratio and optimum structural design and profile. This will be done through the simulation of 3D models using the different forces acting on the structure at various phases of gait. This paper provides a background to the problem, followed by research questions, objectives, delineation of the research, significance of research and expected outcomes. The literature review explores the general design of existing LLE, materials, topology, manufacturing processes and structural analysis methods for LLE structures. Thereafter, methodologies are presented, along with the results and their discussions. The paper finishes with conclusions and future recommendations.
Additional information
Thesis (MEng (Mechanical Engineering))--Cape Peninsula University of Technology, 2026
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Kabila, N_212201492 (1).pdf
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4.73 MB
Format
Adobe PDF
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