Development and control of exoskeleton (Upper Limb) for mobility support

Zamlus, Muhammad Izz (2017) Development and control of exoskeleton (Upper Limb) for mobility support. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Mobility support is the movement of an object to support itself. This project concerns about the mobility support of exoskeleton (upper limb).The development of upper limb focuses on the human arm which is important for the supportive movement. Human arm is the main mobility of the upper limb part of the body. This project is develop to control the assistive human arm robot that will be support for the elderly and disabilities people to move their hands. So, mobility mechanism will be develop to help these people to move their arm. Arm robot will be modelled in this paper by determining it using the physical modelling. The physical modelling will be create based on the mathematical modelling. A design of the arm model is developed using the computer aided design (CAD) software, Solidworks and simulated with MATLAB. MATLAB software is used to control the movement of human arm. A plug-in software called as Simmechanics will be export the model from the Solidworks and import to the MATLAB. The imported model is then direct to the extension file of MATLAB, Simulink. The arm model which is appears as the Simulink output will be run. A controller which is PID and PD controller is added to the Simulink output to control the movement of human arm. The human arm movement is analyzed based on the output performance of the controller. The best performance of controller will selected to put on the human arm model.

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