Design and development of turning motion trajectory for limb assisting device

Low , Wai Tuck (2014) Design and development of turning motion trajectory for limb assisting device. Project Report. UTeM. (Submitted)

Text Design and Development of Turning Motion Trajectory for Limb Assisting Device 24pages.pdf Download (845kB)

Abstract

Nowadays, the number of disorders such as stroke, spinal cord injury and traumatic brain injury is increasing drastically in the society. For every year, there are about 40 million people around the world suffer for mobility disorder and cannot perform their daily life activity. By improved architecture of lower limb assistive device (LAD) in hip for turning motion, patients can have more perfect motion in walking. However, the angle and torque for turning trajectory still have not been discover fully and need to be test. The accuracy and stability for the lower limb devices is importance in order to avoid the excessive turning that might hurt the user. The design of exoskeleton robot is follows the turning trajectory of a normal person. The performance of the hip turning motion is analyzed in term of stability, accuracy and repeatability. Position analysis is done and the suitable angle for turning motion is tested in few positions. Method of accuracy tracking and stability test has been conducted in order to improve the performance of the device. The expected result and the actual result for turning motion is different and need to be improve. The testing will be conducted by using a higher torque motor in order to get an accurate result for turning motion. In FYP2, it is important to improve the performance of the prototype and thesis. For the different type of turning trajectory, it having different of accuracy. The accuracy of the prototype is tested by using 2 method of turning trajectory. There are totally different phases of turning motion that analyzed in the each motion of turning. The results are plotted and show the error of turning, standard deviation and mean error. The result shows that the method one has a higher accuracy of turning which is 98.5% and standard deviation for 0.436 in 45 degrees of turning. For method two, the accuracy and standard deviation are 98.39% and 0.500 respectively. It is prove that method 1 is easier to control and have a higher accuracy as compared to method 2.For the future work, the error of output turning angle should be reduce. The turning angle should be accurate as to improve the safety for the user. For the hardware part, the higher torque motor is needed for the next step. By this, the hardware can attach to a real human body and get a better analysis based on the performances.

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