Motion study of bionic leg using hydraulic motor

Quak, Zhi Yuan (2014) Motion study of bionic leg using hydraulic motor. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Nowadays, several sicknesses such as stroke, injury on the lower limb and elder people cannot walk in a proper way due to joints’ injury. These sicknesses may cause lots of inconvenient in their daily life especially when their lower limb cannot move well in a proper motion. From the research of journal, lots of designs regarding exoskeleton leg (bionic leg) were done to assist the human in term of gait. Different types of method proposed according to the research such as gravity balancing orthosis (GBO), MATLAB software as controller, sliding mode controller (SMC) and humanoid robot biped with heterogeneous legs (BRHL) and etc. Some methods relate to the hydraulic motion study and some relate to the motion of exoskeleton legs. Derivation of mathematical modelling on bionic leg in term of kinematic analysis is the first objective. Another objective of this project is to design the motion of bionic leg using hydraulic actuator for stand and sit position. Besides, analysis on the design of motion study of hydraulic actuator in overall performance to give accuracy and reliability for rehabilitation application was done. There are three phases to be undergone according to the objectives. The derivation of mathematical modelling on bionic leg in term of kinematic analysis was done for the phase 1.The design of motion of bionic leg using hydraulic actuator with stand and sit position was done in phase 2 whereas analysis of the overall performance is done for the phase 3 for bionic leg. FluidSIM used as simulation to test the forces relative to the time taken for the hydraulic actuator. The result to be expected achieve is that able to control the hydraulic actuator for stand and sit position and analysis on overall performance such as accuracy needed so that it suitable used for rehabilitation purpose.

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