Design and development of trajectory for lower limb assistive device using contralateral limb motion

Muhammad Zulfadhli , Kamaruzaman (2014) Design and development of trajectory for lower limb assistive device using contralateral limb motion. Project Report. UTeM. (Submitted)

Text DESIGN AND DEVELOPMENT OF TRAJECTORY FOR LOWER LIMB ASSISTIVE DEVICE USING CONTRALATERAL LIMB MOTION 24pages.pdf Download (595kB)

Abstract

This report is a proposal about research project on Lower Limb Assistive Device using Contra Lateral Motion. There are two session for this final year project. The first phase covered research on the need elements in assistive device while the second phase focused on prototype development and performance analyzing. The motivation of doing this title is to help mobility disorder patients such as senior citizens and stroke patients in walking forward. The objective of this project is to design and develop a lower limb assistive device that using contralateral motion to perform walking trajectory. The scope of the project is limited to hip and knee joint, and only limited to single leg. At the beginning of this research, the project is planned to focus only for trajectory of assistive device of single leg. Due to costs and safety factors, the prototype was built with double legs as representation of human lower limb with assistive device. The performance indices for this prototype are focused on accuracy and stability. The main idea for this prototype’s operation is using a delay as a gap between healthy and impaired legs for walking purpose. In the early stage of this project, flexible bend sensor was used and after some experiments have been done, several disadvantage of this sensor was identified. Due to this reason, the sensor was replaced by potentiometer and it was used until the end of project. The experiment for this project covers accuracy and stability test. The accuracy test was done by comparing input trajectory and device trajectory while the stability test is done by test the prototype in walking trajectory. From observation in experiments has been done, the trajectory performed by the device reached to 90% for accuracy since the actual values by the device are approximately close to desired value while the stability for the device is out of specification due to unstable position while performing trajectories of walking.

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