Development of knee joint angle trajectory tracking for leg support mechanism
Human assistive device is a device designed for helping human with disability and impairment problem to perform daily activities as normal person. The main categories of the assistive device are passive and active types. The active type requires power source to operate its mechanism while the pas...
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| Formato: | Tese |
| Idioma: | English English English |
| Publicado em: |
2015
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| Acesso em linha: | http://eprints.uthm.edu.my/1500/2/WAN%20MOHD%20SHUKRI%20WAN%20SALLEH%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/1500/1/24p%20WAN%20MOHD%20SHUKRI%20WAN%20SALLEH.pdf http://eprints.uthm.edu.my/1500/3/WAN%20MOHD%20SHUKRI%20WAN%20SALLEH%20WATERMARK.pdf |
| Resumo: | Human assistive device is a device designed for helping human with disability and
impairment problem to perform daily activities as normal person. The main
categories of the assistive device are passive and active types. The active type
requires power source to operate its mechanism while the passive type does not
require power source. One of the important assistive devices is Knee-Ankle Foot
Orthosis (KAFO) that designed for providing leg support during walking. This
project is focused on the development of leg support mechanism consists of thigh
and shank braces equipped with an actuator and gearing system purposely designed
for providing additional support to the wearer during walking. This powered
mechanism has ability of tracking the knee joint angle trajectory to imitate gait
movement of a normal healthy person. The normal knee joint angle trajectory data is
obtained from healthy person by using wireless Radio Frequency communication
device and then plotted in Matlab Graphical User Interface (GUI) in a real-time
measurement system. Proportional Integral Derivative (PID) control system is
employed in this project as a controller to make sure the actuator of this mechanism
moves according to the desired knee joint angle trajectory data. Designing a PID
control system for knee joint angle trajectory tracking requires proper tuning of PID
parameters to produce good output response. A step input is given to the system and
its output response is observed while tuning these parameters. Then the actual
desired knee joint angle trajectory data is given to the system and tuning process is
repeated again to get best output response that shows closest angle trajectory
compared to the desired trajectory. |
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