Leg Pad Design for Material Lifting Exoskeletons

These thigh pads were used for the Assistive Robotics Lab lifting exoskeleton. The stretched fabric design was sent with multiple iterations of lifting exoskeletons to Lowe's and the Department of Defense.

Prior Version

The original thigh pads were designed so that the soft goods were removable and washable, with the metal frame being required due to the forces involved. Foam cushions were avoided for weight reduction and to simplify cleaning.

Design Update

One of the main motivations for updating the previous design was that I originally needed to bandsaw sharp internal cuts into sheet metal and use a sheet-metal bender for a large number of folds.

After I finished fabricating six copies of the old design, I wanted to make sure that we updated it, to be less labor intensive and bulky.

Once I researching cloth-tension structures, I determined that we probably only needed two sheet metal bends and that curved edges would help ensure that the stretched fabric didn't cave inward. Additionally, I made sure that the design would not require any internal or sharp corner cuts (Although we switched to waterjet cutting, this was very helpful for prototyping)

One of the main motivations for updating the previous design was that I originally needed to bandsaw sharp internal cuts into sheet metal and use a sheet-metal bender for a large number of folds.

After I finished fabricating six copies of the old design, I wanted to make sure that we updated it, to be less labor intensive and bulky.

Once I researching cloth-tension structures, I determined that we probably only needed two sheet metal bends and that curved edges would help ensure that the stretched fabric didn't cave inward. Additionally, I made sure that the design would not require any internal or sharp corner cuts (Although we switched to waterjet cutting, this was very helpful for prototyping)

Pre-Final Thigh Pads

The version you see below is somewhat difficult to tighten because the pull strap is a little short. The versions we sent out had longer pull tabs to aid with tightening. While I'm still proud of the design, I think it would heavily benefit from printed explanation text or images, because without having seen it stretched, it isn't self-apparent how to set it up.

Acknowledgements

The material lifting exoskeleton was mostly designed by members of the Assistive Robotics Lab, who went on to found Maroon Assistive. While the designs shown here are not used in their current designs, I'm incredibly grateful to Tim Pote and Taylor Pesek for giving me the opportunity to assist in the fabrication and design of their work, while still an undergraduate engineering student.

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