Development and control of robotic exoskeleton for walking rehabilitation

Robotic exoskeletons see much potential in the field of assisted gait rehabilitation. Particularly with Spinal Cord Injury (SCI) or Stroke patients, many of whom lower limb functions are affected, robotic exoskeletons would allow them to perform basic locomotion such as walking and standing up. Howe...

Full description

Saved in:
Bibliographic Details
Main Author: Chia, Kai Ming
Other Authors: Low Kin Huat
Format: Final Year Project
Language:English
Published: 2017
Subjects:
Online Access:http://hdl.handle.net/10356/72048
Tags: Add Tag
No Tags, Be the first to tag this record!
Institution: Nanyang Technological University
Language: English
id sg-ntu-dr.10356-72048
record_format dspace
spelling sg-ntu-dr.10356-720482023-03-04T18:33:21Z Development and control of robotic exoskeleton for walking rehabilitation Chia, Kai Ming Low Kin Huat School of Mechanical and Aerospace Engineering Robotics Research Centre DRNTU::Engineering::Mechanical engineering::Mechatronics Robotic exoskeletons see much potential in the field of assisted gait rehabilitation. Particularly with Spinal Cord Injury (SCI) or Stroke patients, many of whom lower limb functions are affected, robotic exoskeletons would allow them to perform basic locomotion such as walking and standing up. However, human-machine interface still remains one of the challenges in designing such a device. This report will be detailing the development of the design and control such an exoskeleton, dividing the approach into three parts. Firstly, a state recognising algorithm is deployed to read the user intentions and input it to the exoskeleton. Next, real-time estimations of the user’s centre of mass and sensory data will be continuously fed back to the control system while impedance control of the robotic orthosis eases the human-machine interface by accounting for the user’s contribution to the gait trajectory. Lastly, a naturalistic gait is achieved by both adapting the movements of the unaffected leg to the active robotic orthosis and gait planning. The results demonstrate proper control of the state machine and natural gait motion from the exoskeleton. Bachelor of Engineering (Aerospace Engineering) 2017-05-24T02:13:39Z 2017-05-24T02:13:39Z 2017 Final Year Project (FYP) http://hdl.handle.net/10356/72048 en Nanyang Technological University 55 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::Mechatronics
spellingShingle DRNTU::Engineering::Mechanical engineering::Mechatronics
Chia, Kai Ming
Development and control of robotic exoskeleton for walking rehabilitation
description Robotic exoskeletons see much potential in the field of assisted gait rehabilitation. Particularly with Spinal Cord Injury (SCI) or Stroke patients, many of whom lower limb functions are affected, robotic exoskeletons would allow them to perform basic locomotion such as walking and standing up. However, human-machine interface still remains one of the challenges in designing such a device. This report will be detailing the development of the design and control such an exoskeleton, dividing the approach into three parts. Firstly, a state recognising algorithm is deployed to read the user intentions and input it to the exoskeleton. Next, real-time estimations of the user’s centre of mass and sensory data will be continuously fed back to the control system while impedance control of the robotic orthosis eases the human-machine interface by accounting for the user’s contribution to the gait trajectory. Lastly, a naturalistic gait is achieved by both adapting the movements of the unaffected leg to the active robotic orthosis and gait planning. The results demonstrate proper control of the state machine and natural gait motion from the exoskeleton.
author2 Low Kin Huat
author_facet Low Kin Huat
Chia, Kai Ming
format Final Year Project
author Chia, Kai Ming
author_sort Chia, Kai Ming
title Development and control of robotic exoskeleton for walking rehabilitation
title_short Development and control of robotic exoskeleton for walking rehabilitation
title_full Development and control of robotic exoskeleton for walking rehabilitation
title_fullStr Development and control of robotic exoskeleton for walking rehabilitation
title_full_unstemmed Development and control of robotic exoskeleton for walking rehabilitation
title_sort development and control of robotic exoskeleton for walking rehabilitation
publishDate 2017
url http://hdl.handle.net/10356/72048
_version_ 1759855058565988352