Trajectory Planning Of Hip Powered Orthotic Device Using Cubic Polynomial Equation With Via Point

Meor Affendi, Nurul Aizzati (2019) Trajectory Planning Of Hip Powered Orthotic Device Using Cubic Polynomial Equation With Via Point. Project Report. UTeM, Melaka. (Submitted)

Text Trajectory Planning Of Hip Powered Orthotic Device Using Cubic Polynomial Equation With Via Point - Nurul Aizzati Meor Affendi - 24 Pages.pdf - Submitted Version Download (728kB)

Abstract

Many robotic applications has been develop in this recent years and some of them encounters with human nature. Example of robotic application that associated with human nature is orthotic device, exoskeleton robots, humanoids, robotic arms and others. The development of orthotic device has the biggest impact among the lower extremity and disabilities patients. The purpose of this study was to develop a trajectory planning of human hips walking motion for the orthotic device in order to reduce the amount of jerk that occur during the walking motion. The objectives of this project is to design a trajectory planning using the cubic polynomial with via point and to evaluate the performance of motion in terms of angular position, velocity, acceleration and jerk in order to produce smooth motion. The scope of this project is to analyse the performance of jerk in human hips walking cycle based on the reference data of biomechanical human gaits with the method of cubic polynomial. In addition, the method used for developing the trajectory is cubic polynomial with via point. The via point is an intermediate point between the initial and final position path. This method is used to combine the initial and final position of the path to passing though the point in a smooth motion. The simulation of this project is based on the cubic polynomial with via point which generated by Matlab. Moreover, the evaluation of this experiment is based on the comparison graph by the experimental graph with the real-time human’s hip walking motion graph. There are three type of profile generated in this project for 7-phase, 4 phase and 2 phase which is the angular position, velocity and acceleration. The results shows in implementing the cubic polynomial method is able to match the trajectory planning of a real-time human’s hip walking motion for each profile. Other than that, in terms of error and accuracy show that position profile produce lower errors with 0.005028673 rad/s which provide higher accuracy in matching the reference graph of human hips motion. In addition, 7-phases provide a better performance in accuracy and error compares to 4-phase and 2-phases as shown in the result. Thus, by using the 7-phase profile is better in comparing the method of cubic polynomial with the reference human hips motion. Meanwhile, in terms of reducing the jerk to the smallest amount is not possible in this project due the amount of jerk that presented during terminal swing at 0.87s is higher with the value of 167.1771093 rad/s3.

Actions (login required)

View Item