Maximum Torque Estimation Technique Of Three Link System For Sit To Stand Motion

In Humanoid robotics field,capability to perform any task that imitates human movement has been the major research focus.Sit to stand (STS) is a very challenging motion for any humanoid robotic system.In the field of rehabilitation,it is difficult for the physiotherapist technician to readjust prost...

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Main Author:	Ghazali, Mohd Zaki
Format:	Thesis
Language:	English English
Published:	2018
Subjects:	T Technology (General) TJ Mechanical engineering and machinery
Online Access:	http://eprints.utem.edu.my/id/eprint/23306/1/Maximum%20Torque%20Estimation%20Technique%20Of%20Three%20Link%20System%20For%20Sit%20To%20Stand%20Motion.pdf http://eprints.utem.edu.my/id/eprint/23306/2/Maximum%20Torque%20Estimation%20Technique%20Of%20Three%20Link%20System%20For%20Sit%20To%20Stand%20Motion.pdf
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id	my-utem-ep.23306
record_format	uketd_dc
institution	Universiti Teknikal Malaysia Melaka
collection	UTeM Repository
language	English English
topic	T Technology (General) TJ Mechanical engineering and machinery
spellingShingle	T Technology (General) TJ Mechanical engineering and machinery Ghazali, Mohd Zaki Maximum Torque Estimation Technique Of Three Link System For Sit To Stand Motion
description	In Humanoid robotics field,capability to perform any task that imitates human movement has been the major research focus.Sit to stand (STS) is a very challenging motion for any humanoid robotic system.In the field of rehabilitation,it is difficult for the physiotherapist technician to readjust prosthetic leg to fit all the patient without proper knowledge and not all of them has the basic knowledge involving robotic system.Thus from several model of STS including telescopic inverted pendulum,single-link,two-link and three-link (3L),we choose to emphasize more on 3L since it is having a similar segment with human body and it fit most of the current prosthetic leg in rehabilitation centre.Current studies involving torque analysis was using a dynamic model,which is complicated and requires high computational resource to compute.Hence,the purpose of this thesis is to study the effect of mass and length’s link changes to each joint torque and much simpler equation to estimate the torque needed in short time is proposed.Simulation model were run and torque information were collected.In order to validate the equation, experiments were carried out with three-link model.Having an error with ± 0.1% proof that the results shows that there is a possibility to estimate maximum torque needed by each link with equation derive from both simulation and experiment .
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Ghazali, Mohd Zaki
author_facet	Ghazali, Mohd Zaki
author_sort	Ghazali, Mohd Zaki
title	Maximum Torque Estimation Technique Of Three Link System For Sit To Stand Motion
title_short	Maximum Torque Estimation Technique Of Three Link System For Sit To Stand Motion
title_full	Maximum Torque Estimation Technique Of Three Link System For Sit To Stand Motion
title_fullStr	Maximum Torque Estimation Technique Of Three Link System For Sit To Stand Motion
title_full_unstemmed	Maximum Torque Estimation Technique Of Three Link System For Sit To Stand Motion
title_sort	maximum torque estimation technique of three link system for sit to stand motion
granting_institution	UTeM
granting_department	Faculty Of Electrical Engineering
publishDate	2018
url	http://eprints.utem.edu.my/id/eprint/23306/1/Maximum%20Torque%20Estimation%20Technique%20Of%20Three%20Link%20System%20For%20Sit%20To%20Stand%20Motion.pdf http://eprints.utem.edu.my/id/eprint/23306/2/Maximum%20Torque%20Estimation%20Technique%20Of%20Three%20Link%20System%20For%20Sit%20To%20Stand%20Motion.pdf
_version_	1747834031810019328
spelling	my-utem-ep.233062022-03-14T12:34:55Z Maximum Torque Estimation Technique Of Three Link System For Sit To Stand Motion 2018 Ghazali, Mohd Zaki T Technology (General) TJ Mechanical engineering and machinery In Humanoid robotics field,capability to perform any task that imitates human movement has been the major research focus.Sit to stand (STS) is a very challenging motion for any humanoid robotic system.In the field of rehabilitation,it is difficult for the physiotherapist technician to readjust prosthetic leg to fit all the patient without proper knowledge and not all of them has the basic knowledge involving robotic system.Thus from several model of STS including telescopic inverted pendulum,single-link,two-link and three-link (3L),we choose to emphasize more on 3L since it is having a similar segment with human body and it fit most of the current prosthetic leg in rehabilitation centre.Current studies involving torque analysis was using a dynamic model,which is complicated and requires high computational resource to compute.Hence,the purpose of this thesis is to study the effect of mass and length’s link changes to each joint torque and much simpler equation to estimate the torque needed in short time is proposed.Simulation model were run and torque information were collected.In order to validate the equation, experiments were carried out with three-link model.Having an error with ± 0.1% proof that the results shows that there is a possibility to estimate maximum torque needed by each link with equation derive from both simulation and experiment . 2018 Thesis http://eprints.utem.edu.my/id/eprint/23306/ http://eprints.utem.edu.my/id/eprint/23306/1/Maximum%20Torque%20Estimation%20Technique%20Of%20Three%20Link%20System%20For%20Sit%20To%20Stand%20Motion.pdf text en public http://eprints.utem.edu.my/id/eprint/23306/2/Maximum%20Torque%20Estimation%20Technique%20Of%20Three%20Link%20System%20For%20Sit%20To%20Stand%20Motion.pdf text en validuser https://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=112697 mphil masters UTeM Faculty Of Electrical Engineering 1. 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Maximum Torque Estimation Technique Of Three Link System For Sit To Stand Motion

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