Dynamic modelling and control of robotic exoskeleton with balance stabilizer

Wearable robots have drawn much intention recently due their potential ability to help the stroke and spinal cord injury patients to regain the ability of walking. However, the biggest challenge is the balancing of the wearable robot and how the wearable robot can balance is still an open question....

Full description

Saved in:
Bibliographic Details
Main Author: Er, Jie Kai
Other Authors: Kang YueJun
Format: Final Year Project
Language:English
Published: 2014
Subjects:
Online Access:http://hdl.handle.net/10356/60250
Tags: Add Tag
No Tags, Be the first to tag this record!
Institution: Nanyang Technological University
Language: English
id sg-ntu-dr.10356-60250
record_format dspace
spelling sg-ntu-dr.10356-602502023-03-03T15:34:00Z Dynamic modelling and control of robotic exoskeleton with balance stabilizer Er, Jie Kai Kang YueJun School of Chemical and Biomedical Engineering Robotics Research Centre DRNTU::Engineering::Mechanical engineering::Assistive technology Wearable robots have drawn much intention recently due their potential ability to help the stroke and spinal cord injury patients to regain the ability of walking. However, the biggest challenge is the balancing of the wearable robot and how the wearable robot can balance is still an open question. Many subjects rely on assistive devices, such as crutch, walker, etc. to provide the stability during the walking. However, high energy cost and the high potential of falling during using these devices cause a high abandoning rate. Moreover, most of developed wearable devices are not appropriate for people with quadriplegia and hemiplegic. The issues are tackled by virtue of a proposed balance stabilizer mechanism. However, the testing of the stabilizer mechanism is labour intensive. In order to solve this problem, simulation models are needed to test the mechanism before it has been manufactured and tested. In this way, both manufacturing cost and testing cost will be greatly reduced. In this project, a gait pattern generation method based on cubic spline interpolation is proposed. Additionally, a simulation model which can test the performance of the generated gait pattern is developed. Finally, the gait pattern is by the physiotherapist from Tan Tock Seng Hospital to access the feasibility of the exoskeleton. Bachelor of Engineering (Chemical and Biomolecular Engineering) 2014-05-26T03:55:03Z 2014-05-26T03:55:03Z 2014 2014 Final Year Project (FYP) http://hdl.handle.net/10356/60250 en Nanyang Technological University 68 p. application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic DRNTU::Engineering::Mechanical engineering::Assistive technology
spellingShingle DRNTU::Engineering::Mechanical engineering::Assistive technology
Er, Jie Kai
Dynamic modelling and control of robotic exoskeleton with balance stabilizer
description Wearable robots have drawn much intention recently due their potential ability to help the stroke and spinal cord injury patients to regain the ability of walking. However, the biggest challenge is the balancing of the wearable robot and how the wearable robot can balance is still an open question. Many subjects rely on assistive devices, such as crutch, walker, etc. to provide the stability during the walking. However, high energy cost and the high potential of falling during using these devices cause a high abandoning rate. Moreover, most of developed wearable devices are not appropriate for people with quadriplegia and hemiplegic. The issues are tackled by virtue of a proposed balance stabilizer mechanism. However, the testing of the stabilizer mechanism is labour intensive. In order to solve this problem, simulation models are needed to test the mechanism before it has been manufactured and tested. In this way, both manufacturing cost and testing cost will be greatly reduced. In this project, a gait pattern generation method based on cubic spline interpolation is proposed. Additionally, a simulation model which can test the performance of the generated gait pattern is developed. Finally, the gait pattern is by the physiotherapist from Tan Tock Seng Hospital to access the feasibility of the exoskeleton.
author2 Kang YueJun
author_facet Kang YueJun
Er, Jie Kai
format Final Year Project
author Er, Jie Kai
author_sort Er, Jie Kai
title Dynamic modelling and control of robotic exoskeleton with balance stabilizer
title_short Dynamic modelling and control of robotic exoskeleton with balance stabilizer
title_full Dynamic modelling and control of robotic exoskeleton with balance stabilizer
title_fullStr Dynamic modelling and control of robotic exoskeleton with balance stabilizer
title_full_unstemmed Dynamic modelling and control of robotic exoskeleton with balance stabilizer
title_sort dynamic modelling and control of robotic exoskeleton with balance stabilizer
publishDate 2014
url http://hdl.handle.net/10356/60250
_version_ 1759854229234647040