Human intention recognition to control the lower-limb of exoskeleton

• Main Author: Chin, Hock Yong
• Other Authors: Low Kin Huat
• Format: Final Year Project
• Language: English
• Published: 2015
• Subjects: DRNTU::Engineering::Mechanical engineering
• Online Access: http://hdl.handle.net/10356/63983
• Institution: Nanyang Technological University

The assistive robotic exoskeleton for gait rehabilitation has drawn much attention recently due to their potential in assisting stroke and spinal cord injury patients to perform gait motion. However the stability of the robotic exoskeleton is the biggest concern which limits their practical usage so as to ensure the safety of user and would not fall while walking with it. The most important thing of robotic exoskeleton is to get human intention and determine the gait phase which require the data for foot contact of exoskeleton with ground. The data collection is using Flexiforce sensor. To overcome this problem, the robotic exoskeleton is developed together with a balance stabilizer mechanism in order to increase the stability and safety of the exoskeleton. The main focus of this report is to develop the control system for the device. The work is divided into two parts. In the first part, the gait motion of robotic exoskeleton is being developed and improved. In the second part, an algorithm for better manipulation of electric motor is being developed.