Development Of Controller For Prosthetic Leg Using PID Method

This report presents the modeling and control of an actuated prosthetic knee mechanism for trans femoral amputees. The mechanism consists of a linear actuation system that feeds the mechanism with the required moment and power at every different movements. Physical simulation that takes weight data...

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Main Author:	Abd Rahman, Asrul
Format:	Thesis
Language:	English English
Published:	2016
Subjects:	T Technology (General) TJ Mechanical engineering and machinery
Online Access:	http://eprints.utem.edu.my/id/eprint/24941/1/Development%20Of%20Controller%20For%20Prosthetic%20Leg%20Using%20Pid%20Method.pdf http://eprints.utem.edu.my/id/eprint/24941/2/Development%20Of%20Controller%20For%20Prosthetic%20Leg%20Using%20Pid%20Method.pdf
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id	my-utem-ep.24941
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 Abd Rahman, Asrul Development Of Controller For Prosthetic Leg Using PID Method
description	This report presents the modeling and control of an actuated prosthetic knee mechanism for trans femoral amputees. The mechanism consists of a linear actuation system that feeds the mechanism with the required moment and power at every different movements. Physical simulation that takes weight data that is used to simulate and identify the physical parameters of the prosthetic leg. Information from other research were collected and used as references for this study. Movements such as standing, climbing slope, and stair ascent were tested at different time intervals. The results of which can be summarized based on the weight difference is restricted to the shank and foot with a single angular position which does not exceed 20˚. PID control parameters were tuned and resulting the angle of the prosthetic leg could achieve the desired angle at time period of 1 s. Amplitude this point starts at 0 unit at the time of 0.42 seconds. At point 0 units - 20 units the movement takes longer than the 20- point and above. It was found that the effect towards the foot is more significant compared to the shank in terms of both studied variables; angle of movement and exerted pressure. Further analysis must be carried out for the development stage of the knee mechanism. Also, more experiments must be conducted with the trans femoral amputees to improve the overall performance of the knee mechanism.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Abd Rahman, Asrul
author_facet	Abd Rahman, Asrul
author_sort	Abd Rahman, Asrul
title	Development Of Controller For Prosthetic Leg Using PID Method
title_short	Development Of Controller For Prosthetic Leg Using PID Method
title_full	Development Of Controller For Prosthetic Leg Using PID Method
title_fullStr	Development Of Controller For Prosthetic Leg Using PID Method
title_full_unstemmed	Development Of Controller For Prosthetic Leg Using PID Method
title_sort	development of controller for prosthetic leg using pid method
granting_institution	Universiti Teknikal Malaysia Melaka
granting_department	Faculty Of Mechanical Engineering
publishDate	2016
url	http://eprints.utem.edu.my/id/eprint/24941/1/Development%20Of%20Controller%20For%20Prosthetic%20Leg%20Using%20Pid%20Method.pdf http://eprints.utem.edu.my/id/eprint/24941/2/Development%20Of%20Controller%20For%20Prosthetic%20Leg%20Using%20Pid%20Method.pdf
_version_	1747834102044688384
spelling	my-utem-ep.249412021-09-29T12:09:48Z Development Of Controller For Prosthetic Leg Using PID Method 2016 Abd Rahman, Asrul T Technology (General) TJ Mechanical engineering and machinery This report presents the modeling and control of an actuated prosthetic knee mechanism for trans femoral amputees. The mechanism consists of a linear actuation system that feeds the mechanism with the required moment and power at every different movements. Physical simulation that takes weight data that is used to simulate and identify the physical parameters of the prosthetic leg. Information from other research were collected and used as references for this study. Movements such as standing, climbing slope, and stair ascent were tested at different time intervals. The results of which can be summarized based on the weight difference is restricted to the shank and foot with a single angular position which does not exceed 20˚. PID control parameters were tuned and resulting the angle of the prosthetic leg could achieve the desired angle at time period of 1 s. Amplitude this point starts at 0 unit at the time of 0.42 seconds. At point 0 units - 20 units the movement takes longer than the 20- point and above. It was found that the effect towards the foot is more significant compared to the shank in terms of both studied variables; angle of movement and exerted pressure. Further analysis must be carried out for the development stage of the knee mechanism. Also, more experiments must be conducted with the trans femoral amputees to improve the overall performance of the knee mechanism. 2016 Thesis http://eprints.utem.edu.my/id/eprint/24941/ http://eprints.utem.edu.my/id/eprint/24941/1/Development%20Of%20Controller%20For%20Prosthetic%20Leg%20Using%20Pid%20Method.pdf text en public http://eprints.utem.edu.my/id/eprint/24941/2/Development%20Of%20Controller%20For%20Prosthetic%20Leg%20Using%20Pid%20Method.pdf text en validuser https://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=117714 mphil masters Universiti Teknikal Malaysia Melaka Faculty Of Mechanical Engineering 1. Case, D., Taheri, B. & Richer, E., 2011. Dynamic Magnetorheological Damper for Orthotic Tremor Suppression. HUIC Mathematics & Engineering. Available at: http://huichawaii.org/assets/richer,-edmond-1.pdf. 2. Chen, J.C.J. & Liao, W.-H.L.W.-H., 2006. A Leg Exoskeleton Utilizing a Magnetorheological Actuator. 2006 IEEE International Conference on Robotics and Biomimetics, pp.824–829. 3. Dominguez, G.A., Kamezaki, M. & French, M., 2015. Modelling and Simulation of a New Magnetorheological Linear Device. IEEE International Symposium on Robotics and Intelligent Sensors (IEEE IRIS2015) Modelling, pp.235–240. 4. Harun, M.H. et al., Non-Parametric Modelling and Validation of Magnetorheological Damper for Lateral Suspension of Railway Vehicle using Interpolated Sixth Order Polynomial. , pp.1–6. 5. Harun, M.H., Abdullah, W.M.Z.W. & Jamaluddin, H., Study the Potential Application of Smart Fluid Material and Force Tracking Control of Magnetorheological Damper. , pp.1–6. 6. Jansen, L.M. & Dyke, S.J., 2000. Semiactive Control Strategies for MR Dampers: Comparative Study. Journal of Engineering Mechanics, 126(8), pp.795–803. 7. Kapti, A.O. & Muhurcu, G., 2014. Wearable acceleration sensor application in unilateral trans-tibial amputation prostheses. Biocybernetics and Biomedical Engineering, 34(1), pp.53–62. Available at: http://dx.doi.org/10.1016/j.bbe.2013.10.002. 8. Kapti, A.O. & Yucenur, M.S., 2006. Design and control of an active artificial knee joint. Mechanism and Machine Theory, 41(12), pp.1477–1485. Available at: http://www.sciencedirect.com/science/article/pii/S0094114X06000243. 9. Li, W., 2014. Design and Development of Magneto-Rheological Actuators with Application in Mobile Robotics. , (May). 10. Wentink, E.C. et al., 2013. Variable stiffness actuated prosthetic knee to restore knee buckling during stance: A modeling study. Medical Engineering and Physics, 35(6), pp.838–845. Available at: http://dx.doi.org/10.1016/j.medengphy.2012.08.016. 11. J. Braz. Soc. Mech. Sci. & Eng. vol.33 no.3 Rio de Janeiro July/Sept. 2011. Study on the usability evaluation of prosthetic leg products based on ergonomics. http://dx.doi.org/10.1590/S1678-58782011000300013 12. Paolo de Leva (1996) Adjustments to Zatsiorsky-Seluyanov's Segment Inertia Parameters . Journal of Biomechanics 29 (9), pp. 1223-1230. 44 13. Plagenhoef, S., Evans, F.G. and Abdelnour, T. (1983) Anatomical data for analyzing human motion. Research Quarterly for Exercise and Sport 54, 169-178. 14. Azuwan, M., Dzahir, M. & Yamamoto, S., 2014. Recent Trends in Lower-Limb Robotic Rehabilitation Orthosis: Control Scheme and Strategy for Pneumatic Muscle Actuated Gait Trainers. , pp.120–148. 15. Bajaj, H.M., Birdi, G.S. & Ugale, B.A., 2014. APPLICATION OF MAGNETO RHEOLOGICAL ( MR ) FLUID. , pp.41–45. 16. Bopardikar, S.D. & Seth, B., Design of an Artificial Leg Mechanism for Above-Knee Amputees. 17. Case, D., Taheri, B. & Richer, E., 2011. Dynamic Magnetorheological Damper for Orthotic Tremor Suppression. HUIC Mathematics & Engineering. Available at: http://huichawaii.org/assets/richer,-edmond-1.pdf. 18. Chen, J.C.J. & Liao, W.-H.L.W.-H., 2006. A Leg Exoskeleton Utilizing a Magnetorheological Actuator. 2006 IEEE International Conference on Robotics and Biomimetics, pp.824–829. 19. Crivellaro, C., 2008. DISCRETE-TIME DYNAMIC MODEL OF A MAGNETO-RHEOLOGICAL DAMPER FOR SEMI-ACTIVE CONTROL DESIGN. , 3, pp.27–36. 20. Dominguez, G.A., Kamezaki, M. & French, M., 2015. Modelling and Simulation of a New Magnetorheological Linear Device. IEEE International Symposium on Robotics and Intelligent Sensors (IEEE IRIS2015) Modelling, pp.235–240. 21. Durfee, W., Xia, J. & Hsiao-wecksler, E., Tiny Hydraulics for Powered Orthotics. , (1). 22. Gudmundsson, K.H., Jonsdottir, F. & Olafsson, S., 2008. Multi-objective Optimization of a Magneto-rheological Prosthetic Knee Actuator. 23. Harun, M.H. et al., Non-Parametric Modelling and Validation of Magnetorheological Damper for Lateral Suspension of Railway Vehicle using Interpolated Sixth Order Polynomial. , pp.1–6. 24. Harun, M.H., Abdullah, W.M.Z.W. & Jamaluddin, H., Study the Potential Application of Smart Fluid Material and Force Tracking Control of Magnetorheological Damper. , pp.1–6. 25. Herr, H. & Wilkenfeld, A., 2003. Feature User-adaptive control of a magnetorheological prosthetic knee. , 30(1), pp.42–55. 26. Jansen, L.M. & Dyke, S.J., 2000. Semiactive Control Strategies for MR Dampers: Comparative Study. Journal of Engineering Mechanics, 126(8), pp.795–803. 27. Jonsdottir, F. & Gudmundsson, F.B., 2015. Preparation and Characterization of a Prototype Magnetorheological Elastomer for Application in Prosthetic Devices. 28. Kapti, A.O. & Muhurcu, G., 2014. Wearable acceleration sensor application in unilateral trans-tibial amputation prostheses. Biocybernetics and Biomedical Engineering, 34(1), pp.53–62. Available at: http://dx.doi.org/10.1016/j.bbe.2013.10.002. 29. Kapti, A.O. & Yucenur, M.S., 2006. Design and control of an active artificial knee joint. Mechanism and Machine Theory, 41(12), pp.1477–1485. Available at: http://www.sciencedirect.com/science/article/pii/S0094114X06000243. 30. Li, W., 2014. Design and Development of Magneto-Rheological Actuators with Application in Mobile Robotics. , (May). 31. Pilarski, P.M., Dick, T.B. & Sutton, R.S., 2013. Real-time Prediction Learning for the Simultaneous Actuation of Multiple Prosthetic Joints. 32. Singh, Y., Kumar, R. & Ali, I., 2014. INTERNATIONAL JOURNAL OF RESEARCH IN Study of Passive Transfemoral Prosthesis. , 2(4), pp.9–19. 33. Unal, R. et al., 2010. Biomechanical Conceptual Design of a Passive Transfemoral Prosthesis. , pp.515–518. 34. Wentink, E.C. et al., 2013. Variable stiffness actuated prosthetic knee to restore knee buckling during stance: A modeling study. Medical Engineering and Physics, 35(6), pp.838–845. Available at: http://dx.doi.org/10.1016/j.medengphy.2012.08.016. 35. Xie, H., 2010. The Knee Joint Design and Control of Above-knee Intelligent Bionic Leg Based on Magneto-rheological Damper. , 7(August), pp.277–282. 36. Zhao, J., Berns, K. & Baptista, R.D.S., Design of Variable-Damping Control for Prosthetic Knee based on a Simulated Biped.

Development Of Controller For Prosthetic Leg Using PID Method

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