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...

Full description

Saved in:

Bibliographic Details
Main Author:	Wan Salleh, Wan Mohd Shukri
Format:	Thesis
Language:	English English English
Published:	2015
Subjects:	R Medicine (General)
Online Access:	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
Tags:	Add Tag No Tags, Be the first to tag this record!

id	my-uthm-ep.1500
record_format	uketd_dc
spelling	my-uthm-ep.15002021-10-03T07:45:31Z Development of knee joint angle trajectory tracking for leg support mechanism 2015-01 Wan Salleh, Wan Mohd Shukri R Medicine (General) 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. 2015-01 Thesis http://eprints.uthm.edu.my/1500/ http://eprints.uthm.edu.my/1500/2/WAN%20MOHD%20SHUKRI%20WAN%20SALLEH%20COPYRIGHT%20DECLARATION.pdf text en staffonly http://eprints.uthm.edu.my/1500/1/24p%20WAN%20MOHD%20SHUKRI%20WAN%20SALLEH.pdf text en public http://eprints.uthm.edu.my/1500/3/WAN%20MOHD%20SHUKRI%20WAN%20SALLEH%20WATERMARK.pdf text en validuser mphil masters Universiti Tun Hussein Onn Malaysia Faculty of Electrical and Electronic Engineering
institution	Universiti Tun Hussein Onn Malaysia
collection	UTHM Institutional Repository
language	English English English
topic	R Medicine (General)
spellingShingle	R Medicine (General) Wan Salleh, Wan Mohd Shukri Development of knee joint angle trajectory tracking for leg support mechanism
description	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.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Wan Salleh, Wan Mohd Shukri
author_facet	Wan Salleh, Wan Mohd Shukri
author_sort	Wan Salleh, Wan Mohd Shukri
title	Development of knee joint angle trajectory tracking for leg support mechanism
title_short	Development of knee joint angle trajectory tracking for leg support mechanism
title_full	Development of knee joint angle trajectory tracking for leg support mechanism
title_fullStr	Development of knee joint angle trajectory tracking for leg support mechanism
title_full_unstemmed	Development of knee joint angle trajectory tracking for leg support mechanism
title_sort	development of knee joint angle trajectory tracking for leg support mechanism
granting_institution	Universiti Tun Hussein Onn Malaysia
granting_department	Faculty of Electrical and Electronic Engineering
publishDate	2015
url	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
_version_	1747830803985858560

Development of knee joint angle trajectory tracking for leg support mechanism

Similar Items