Lower Limb Movement Analysis for Exoskeleton Design

Das, Susmita; Das, Debadrito; Neogi, Biswarup

doi:10.1109/tensymp46218.2019.8971078

Cited by 4 publications

(5 citation statements)

References 24 publications

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“…The concept of system stability [45] and checking using Phase portrait and Lyapunov stability [17] has been incorporated to make it a complete evaluation. Polynomials for the two positions of the lower limb (sitting and standing) as shown in Figures 7 and 8 are presented below in Equations ( 23) and (24), respectively [5]: The polynomial equations generated from two different postures of the lower limb, such as sitting and standing, are considered as the primary conditions of the artificial system stability analysis. The transfer function is generated from the polynomials to achieve the mathematical model [42] of the mentioned system.…”

Section: Resultsmentioning

confidence: 99%

“…where, = mass of the joint2, = velocity of the joint2. The derivative of (a 1 , b 1 ) is expressed in Equation (5).…”

Section: = Cos ∅ Sin ∅mentioning

confidence: 99%

“…The mathematical explanation of the systems is the newer approach using the Euler-Lagrange method to show the artificial motion [4]. There are many interesting applications of system performance analysis through mathematical model simulation in nonlinear domains, such as walking robots, Degree of Freedom (DoF) manipulator [5] working as an artificial limb, etc. The analysis and design of nonlinear control system stability has been discussed to give an overall idea to implement on different types of applications.…”

Section: Introductionmentioning

confidence: 99%

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Nonlinear System Stability and Behavioral Analysis for Effective Implementation of Artificial Lower Limb

et al. 2020

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System performance and efficiency depends on the stability criteria. The lower limb prosthetic model design requires some prerequisites such as hardware design functionality and compatibility of the building block materials. Effective implementation of mathematical model simulation symmetry towards the achievement of hardware design is the focus of the present work. Different postures of lower limb have been considered in this paper to be analyzed for artificial system design of lower limb movement. The generated polynomial equations of the sitting and standing positions of the normal limb are represented with overall system transfer function. The behavioral analysis of the lower limb model shows the nonlinear nature. The Euler-Lagrange method is utilized to describe the nonlinearity in the field of forward dynamics of the artificial system. The stability factor through phase portrait analysis is checked with respect to nonlinear system characteristics of the lower limb. The asymptotic stability has been achieved utilizing the most applicable Lyapunov method for nonlinear systems. The stability checking of the proposed artificial lower extremity is the newer approach needed to take decisions on output implementation in the system design.

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Section: Resultsmentioning

confidence: 99%

“…where, = mass of the joint2, = velocity of the joint2. The derivative of (a 1 , b 1 ) is expressed in Equation (5).…”

Section: = Cos ∅ Sin ∅mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Nonlinear System Stability and Behavioral Analysis for Effective Implementation of Artificial Lower Limb

et al. 2020

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“…Its principal purpose is to provide assistance to people who have difficulties moving around. Following a stroke, neuromuscular damage can be corrected employing technologies [17], [18] that combine traditional therapy with the assistance of a Hand tutor. In order to create a device that can assist a limb that is paralysed, [19]signals from a healthy leg and motion trajectories are included into the device.…”

Section: Literature Surveymentioning

confidence: 99%

Finite Element Analysis Optimises Material Selection and 3D Printing of Lower Limb Exoskeletons

Ravichandran¹,

Jothiprakash²,

Venkatesan³

2023

IJSMEM

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The purpose of the technology behind exoskeletons is to achieve human-machine motor function. The performance of the military, industry, and the medical field is all improved with exoskeletons. Rehabilitative benefits can be gained from using medical exoskeletons. The design and development of mechanical structures have an impact on the cost of metabolic processes, as well as size, portability, and cost. Exoskeletons are now within reach of consumers in underdeveloped nations thanks to the miniaturisation of components including electronics, controls, motors, and drives. The use of alternative material for the exoskeleton structure improves both its safety and its strength while simultaneously reducing its overall cost. Frames can be made out of metals, composites, or polymers. In this study, the technology of additive manufacturing is used to choose the components that will go into an exoskeleton frame for lower limb rehabilitation. CATIA v5 generates a 3D model, and Ansys carries out a finite element analysis to estimate the deformation of the material and determine whether or not it is appropriate for use by various age groups.

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“…Leg motion experiments with knee flexion analysis have been performed in [12]. Joint rehabilitation-oriented lower limb design has been implemented in [13,14]. Human movement data acquisition was performed in [15,16].…”

Section: Introductionmentioning

confidence: 99%

Design Analysis of Prosthetic Unilateral Transtibial Lower Limb with Gait Coordination

2023

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People with lower limb amputations struggle through difficulties during locomotion in their daily activities. People with transtibial amputations take support from prosthetic legs for systematic movement. During motion, they experience some mobility issues while using general prosthetic limbs regarding gait pattern. The design of a prosthetic-controlled lower limb with gait synchronization for physically disabled persons is the main goal of the present research work, which can provide an improved walking experience. The design and performance analysis of prosthetic lower limbs for people with transtibial amputations is performed in the present paper. The designed rehabilitation system shows synchronization between the normal and the prosthetic limbs achieved with gait coordination. The dynamics of the lower extremities in different postural activities are used for design purpose utilizing Euler–Lagrange motion theory. The artificial motion of the knee and the ankle joints function through the angular movement of the servo motors according to the movements of the rotary encoders placed on the sound limb joints. The range of motion of both the sound and prosthetic limbs are compared for different steps during a gait cycle. The prosthetic electronic system design of the artificial lower limb is able to show the gait style of human being with body kinesics. The nonlinear domain stability analysis of the designed prosthetic limb is presented through the Lyapunov method. A PIDF2 controller tuning process is implemented for the designed limb’s performance improvement. The designed prosthetic system is beneficial for people with unilateral transtibial amputations with a great societal impact.

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Lower Limb Movement Analysis for Exoskeleton Design

Cited by 4 publications

References 24 publications

Nonlinear System Stability and Behavioral Analysis for Effective Implementation of Artificial Lower Limb

Nonlinear System Stability and Behavioral Analysis for Effective Implementation of Artificial Lower Limb

Finite Element Analysis Optimises Material Selection and 3D Printing of Lower Limb Exoskeletons

Design Analysis of Prosthetic Unilateral Transtibial Lower Limb with Gait Coordination

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