Walking Motion Trajectory Generation Of Hip Powered Orthotic Device

Mohammed, Marwan Qaid Abdulrazzaq (2016) Walking Motion Trajectory Generation Of Hip Powered Orthotic Device. Project Report. UTeM, Melaka, Malaysia . (Submitted)

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Abstract

Nowadays, increasing number of people who could utilize from the powered lower limb orthotic devices because of some of diseases such as spinal cord injured and stroke, especially in elderly age, which means that effects of these diseases lead to disability either Hemiplegia or total paralysis. According to the National Spinal Cord Injury Statistical center (NSCISC), 40 cases per million of American population is sustained every year (12,000 cases annually at average 40 years old). Thus, there are many methods have been used to move Exoskeletons device that accurately matches real human motion in different terrains and environments. Although most of methods are aimed to generate smooth walking like human based on flexion angle, velocity and acceleration data of three joint movements (ankle, knee and hip joints) but these methods do not accurately match real human motion. In this project, there are two objectives that should be achieved, first objective is to generate a walking motion profile in the leg’s hip joint that accurately matches real human movement whereas the second objective is to analyze and evaluate the accuracy of the generated trajectory profiles and make a comparison between a generated trajectory motion profiles with real human trajectory profiles. In order to achieve the objectives aforementioned, trajectory motion profile is generated by using both quintic polynomial equation (high-order-polynomial) and cubic polynomial equation (third-order-polynomial) that are coded into MATLAB to get the motion profile for position, velocity and acceleration. Then, generated trajectory profiles were compared with the reference hip trajectory profile to obtain root mean square error (RMS error) and dynamic error. The result shows that quintic polynomial equation generates trajectory profile that accurately matches reference trajectory profile of human’s hip during terminal stance and mid-swing with RMS error 0.00575rad and 0.006025rad respectively. Where, it becomes less match during initial swing and terminal swing with RMS error 0.03015rad and 0.01923rad respectively. Besides that, cubic polynomial equation generates trajectory motion profile that accurately matches reference trajectory profile of human’s hip during terminal stance and initial swing with RMS error 0.00486rad and 0.00883rad respectively. However, it becomes less match during mid-stance and pre-swing with RMS error 0.017001 rad and 0.01566 rad respectively.

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