Real-time measurement and gait detection algorithm for motion control of active ankle foot orthosis / Aminuddin Hamid

Human gaits are complicated motion that required synergy of muscle coordination, timing and balance. Normally, walking gait pattern is essentially a casual footstep, i.e. one foot moving forward and then followed by another foot stepping ahead of the first foot at the same distance. However, many pe...

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Main Author:	Hamid, Aminuddin
Format:	Thesis
Language:	English
Published:	2015
Subjects:	Evolutionary programming (Computer science) Genetic algorithms
Online Access:	https://ir.uitm.edu.my/id/eprint/15991/1/TM_AMINUDDIN%20HAMID%20EM%2015_5.pdf
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id	my-uitm-ir.15991
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spelling	my-uitm-ir.159912022-03-10T02:41:06Z Real-time measurement and gait detection algorithm for motion control of active ankle foot orthosis / Aminuddin Hamid 2015 Hamid, Aminuddin Evolutionary programming (Computer science). Genetic algorithms Control engineering systems. Automatic machinery (General) Human gaits are complicated motion that required synergy of muscle coordination, timing and balance. Normally, walking gait pattern is essentially a casual footstep, i.e. one foot moving forward and then followed by another foot stepping ahead of the first foot at the same distance. However, many people cannot walk with normal gait pattern due to neuromuscular disorder affecting the lower limbs leading to weakening of the dorsiflexor muscles of the foot and ankle. In order to support the weak muscle on Ankle Foot Orthosis (AFO) device is worn on the lower leg and foot to provide permanent assistance and control the motion of the foot from dragging during walking. But a typical AFO device is a passive one which tends to be rigid and fail to provide dorsi/plantar flexion motion during walking. The Active ankle foot orthosis (AAFO) has been developed to overcome this problem by assisting the motion of the ankle complex based on force controlled actuator. One of the challenges that researchers have to face with the development of AAFO is providing an efficient transmission and producing continuous and smooth gait cycle. This thesis proposes a real time gait phase detection system to control AAFO for rehabilitation and assist ankle motion. Therefore, the information of real-time human gait phase is important for active control of AFO motion. In this thesis, the real-time gait phase is obtained by measuring ground reaction force (GRF). The proposed system consists of an AFO equipped with ball screw actuator that provides direct assistance to control ankle joint during dorsiflexion and plantarflexion motion. The position of the ball screw actuators is controlled by using motion controller based on the inputs received from three force sensors embedded in the insole and an encoder attached at the ankle joint. The data acquired from force sensors during walking condition is transferred to the host computer powered by LabVIEW software for visualization and analysis. From the result analysis, the developed control algorithm shows that the realtime GRF measurement has the ability to enhance the AAFO functional performance and improve the patient gait. 2015 Thesis https://ir.uitm.edu.my/id/eprint/15991/ https://ir.uitm.edu.my/id/eprint/15991/1/TM_AMINUDDIN%20HAMID%20EM%2015_5.pdf text en public mphil masters Universiti Teknologi MARA Faculty of Mechanical Engineering
institution	Universiti Teknologi MARA
collection	UiTM Institutional Repository
language	English
topic	Evolutionary programming (Computer science) Genetic algorithms Evolutionary programming (Computer science) Genetic algorithms
spellingShingle	Evolutionary programming (Computer science) Genetic algorithms Evolutionary programming (Computer science) Genetic algorithms Hamid, Aminuddin Real-time measurement and gait detection algorithm for motion control of active ankle foot orthosis / Aminuddin Hamid
description	Human gaits are complicated motion that required synergy of muscle coordination, timing and balance. Normally, walking gait pattern is essentially a casual footstep, i.e. one foot moving forward and then followed by another foot stepping ahead of the first foot at the same distance. However, many people cannot walk with normal gait pattern due to neuromuscular disorder affecting the lower limbs leading to weakening of the dorsiflexor muscles of the foot and ankle. In order to support the weak muscle on Ankle Foot Orthosis (AFO) device is worn on the lower leg and foot to provide permanent assistance and control the motion of the foot from dragging during walking. But a typical AFO device is a passive one which tends to be rigid and fail to provide dorsi/plantar flexion motion during walking. The Active ankle foot orthosis (AAFO) has been developed to overcome this problem by assisting the motion of the ankle complex based on force controlled actuator. One of the challenges that researchers have to face with the development of AAFO is providing an efficient transmission and producing continuous and smooth gait cycle. This thesis proposes a real time gait phase detection system to control AAFO for rehabilitation and assist ankle motion. Therefore, the information of real-time human gait phase is important for active control of AFO motion. In this thesis, the real-time gait phase is obtained by measuring ground reaction force (GRF). The proposed system consists of an AFO equipped with ball screw actuator that provides direct assistance to control ankle joint during dorsiflexion and plantarflexion motion. The position of the ball screw actuators is controlled by using motion controller based on the inputs received from three force sensors embedded in the insole and an encoder attached at the ankle joint. The data acquired from force sensors during walking condition is transferred to the host computer powered by LabVIEW software for visualization and analysis. From the result analysis, the developed control algorithm shows that the realtime GRF measurement has the ability to enhance the AAFO functional performance and improve the patient gait.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Hamid, Aminuddin
author_facet	Hamid, Aminuddin
author_sort	Hamid, Aminuddin
title	Real-time measurement and gait detection algorithm for motion control of active ankle foot orthosis / Aminuddin Hamid
title_short	Real-time measurement and gait detection algorithm for motion control of active ankle foot orthosis / Aminuddin Hamid
title_full	Real-time measurement and gait detection algorithm for motion control of active ankle foot orthosis / Aminuddin Hamid
title_fullStr	Real-time measurement and gait detection algorithm for motion control of active ankle foot orthosis / Aminuddin Hamid
title_full_unstemmed	Real-time measurement and gait detection algorithm for motion control of active ankle foot orthosis / Aminuddin Hamid
title_sort	real-time measurement and gait detection algorithm for motion control of active ankle foot orthosis / aminuddin hamid
granting_institution	Universiti Teknologi MARA
granting_department	Faculty of Mechanical Engineering
publishDate	2015
url	https://ir.uitm.edu.my/id/eprint/15991/1/TM_AMINUDDIN%20HAMID%20EM%2015_5.pdf
_version_	1783733473396129792

Real-time measurement and gait detection algorithm for motion control of active ankle foot orthosis / Aminuddin Hamid

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