Equinus Exoskeleton Capstone 2018

Northern Arizona University Engineering Department

Brandon Begay, Azalea Grant, Robert Libby, Ethan Michel, Hannah Rentschler

Project Description

The team was tasked with creating an exoskeleton device that would help improve the gait of individuals with equinus. Equinus is a condition in which an individual suffers from restricted ankle motion, often leading to an inefficient “toe-walking” pattern, where the patient walks on the balls of the feet. The exoskeleton device the team created assisted in re-distributing weight across the foot, and provided a propulsive force to help the patient walk. The team designed an appropriate drive system to provide propulsion and designed the device to allow for adjustment for a range of equinus severities.

The equinus assistive exoskeleton designed by our team provides propulsion to the foot by rotating a footplate via a pulley and cable system. It is controlled using a timed walking method that provides assistance at the propulsive phase of the gait cycle.

The following figure shows the final exoskeleton designed by our team.

View of full exoskeleton on our dope girl Hannah View of the toe portion of the assembly being worn. View of the waist assembly, including the PCB, battery, and both motors under the board.