Developing Accelerometer Sensor System For Instantaneous Mapping Acceleration Of 1DOF Elbow Joint For Exoskeleton Robot

Nattni, Ainim (2013) Developing Accelerometer Sensor System For Instantaneous Mapping Acceleration Of 1DOF Elbow Joint For Exoskeleton Robot. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

An exoskeleton robot is an external structural mechanism together with a joint and links with have most similarity to tile human body. When it is wearing by a user, it should provide safety, comfort wearing, high movable ranges, flexible and smooth motion generation, and adaptability. An exoskeleton robot is one of the solutions for the patient which disability problem such as partial paralyzed patient. To perform the rehabilitation process automatically, the exoskeleton robot need to be drive directly by the patient movement. A technic called mapping concept is needed to perform the task. However, it is difficult to learn and understand this unnatural mapping method. The challenge lies in learn a mapping method and design the controller by using accelerometer sensor signal as its input. By this, it would be a challenging to find and figured out these parameter and its role in controlling the exoskeleton movement. This project is to study and understands the behaviour and characteristic of the accelerometer sensor, develop a sensory system for detecting acceleration of elbow joint by using accelerometer sensor, and design a sensory system for instantaneous mapping acceleration of human elbow joint movement for IDOF exoskeleton prototype model. The project is setup by locating the most suitable location to place the accelerometer sensor on the human upper limb. Then establish the connection between accelerometer to a computer through a microcontroUer as a data translator medium. Obtained data then will be analysis and investigate to understand the mapping process. The mapping process is perform by using mapping equation to control directly the speed of the prototype model based on sensing signal from the accelerometer sensor. ln hardware testing, the dc motor will operating only when the PWM value reach approximately about 70 due to the torque of the dc motor is low. With a sensor reading of 430mV/g, the prototype model will provide a full speed movement of255 PWM value. At the end of this project, a functioning sensory system by using accelerometer sensor ADXL335 for mapping the human elbow joint acceleration to the 1DOF prototype model of an exoskeleton robot were produced by controlling the PWM value of the dc motor.

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