Modelling Asynchronous Leg-Exo Movement Effect On Exoskeleton Robot

Mohd Annuar, Khalil Azha and Mohamad Sapiee, Mohd Razali and Miskon, Muhammad Fahmi and Mohd Ab Halim, Mohd Firdaus and Harun, Mohamad Haniff and Shukor, Ahmad Zaki (2018) Modelling Asynchronous Leg-Exo Movement Effect On Exoskeleton Robot. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

In coming years, the trend shows that the advancements in the development of lower body exoskeleton robot for many purposes such as physical assistance and rehabilitation therapy. According to the statistics, the number of aging population and lower limb injury are always increasing. Therefore, many therapists are required to help overcome this problem. In robotic exoskeleton research, it will contribute by developing wearable robotic suit on the whole of human body which can help human to perform tasks beyond his limit. Apart from the exoskeleton structure, the challenge is on how to control the exoskeleton so that it will track any human movements while at the same time augment it by providing additional power to the motions. The objective of this research is to investigate the effect of asynchronous leg-exo movement (walking gait) on exoskeleton robot. Then, to model and validate asynchronous effect between human leg and exoskeleton robot. The methodology of the research will be simulation and experimentation using Vrep software and human robot leg. Theoritical, simulation and experimentation parameter including center of mass (COM) position, angular velocity, delay time between leg and robot movement will be study and analysis. This research finding will improve asynchronous effect on the lower body exoskeleton robot. To develop a simple and effective lower body exoskeleton model can significantly contribute to the advancement of a physical assistance solution and catering the rehabilitation and health industrial needs.

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