Control System Development for One-Side Hip-Knee Joint of Reciprocating Gait Orthosis

Tarmizi, Mohd Aizat Ahmad; Ramli, Rizauddin; Abdullah, Mohd Faizol; Teng, Phun Li; Haris, Sallehuddin Mohamed

doi:10.1007/978-3-642-40409-2_21

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2016

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“…Studies show the orthosis consumed high amount of energy from the patient which would limit the efficiency of movement [1,2,5]. Thus, a simple automated biped RGO with 4 degree-of-freedom (DOF) is presented to assist rehabilitation with less energy consumption [7,11].…”

Section: Introductionmentioning

confidence: 99%

Trajectory planning and simulation of 4-DOF reciprocating gait orthosis

Tarmizi¹,

Ramli²,

Haris³

2016

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A development of trajectory planning and simulation for a four degree-of-freedom (DOF) biped reciprocating gait orthosis (RGO) for paraplegic is presented in the paper. Trajectory planning in joint space is developed using linear segments with parabolic blends (LSPB) method and presented graphically. The design of the RGO structure is developed in Solidworks and linked to MATLAB SimMechanics via xml mode. The input of generated model is fed according to the measured angular position trajectory of hip and knee joint actuator using Signal Builder block from MATLAB Simulink library and the simulation is shown graphically. The result of the simulation shows the RGO movement is imitating the desired trajectory quite similarly in each gait cycle and verified a normal walking gait pattern. The developed trajectory planning in this paper can 1298 Mohd Aizat Ahmad Tarmizi et al.be used as an input signal for the system in further advanced RGO control development.

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