A Feasible Action copying Exoskeleton upper limb for Partially paralysed polio patients in Sri Lanka

Abstract

Although the WHO declared Sri Lanka as a country that is free from polio, many people who had previously been attacked by poliomyelitis are still left out in our society. Most of these patients belonging to flaccid paralysis category are dependent over others due to their bodily weakness. In the history of orthotic applications over polio patients, the weight of the brace has been a painful fact. These patients have to move their artificial limbs themselves, without backup, which craves excessive energy for mobile and other activities compared to a normal person. The main objective of this thesis is to augment the degree of self-reliance of partially paralysed polio patients by suggesting and evolving an action copying exoskeleton upper limb based on analogue electronics along with motion sensing which is light in weight, very low in cost with a label? MADE IN SRI-LANKA?. In order to reduce the initial cost the exoskeleton was evolved via discarded items in our surroundings such as CD-ROM, VHS Players, aluminium bars etc. Also expensive sensors used for motion sensing were replaced with analogue motors. The final product was a three piece device. An exoskeleton frame worn around the weakened arm of the patient to sense the motions, an artificial robotic arm to copy the patient?s exact motions and a junction box to electrically merge them. The total cost of the device was limited to two hundred rupees. What?s more, the weights of each device ware limited to less than one kilogram. Moreover, the response of the device to rapid changes in motions were superior to what was expected.