Simulation of Control for Reduced Dof Lower Limb Exoskeleton Robot using Cad Design
M.R.Sapiee1, M.A.A.Wahit2, M.H.M.Marhaban3, A.J.Ishak4, K. A. M. Annuar5, M.F. Miskon6
1M.R.Sapiee, Faculty of Engineering, Universiti Putra Malaysia, UPM Serdang, Selangor, Malaysia.
2M.A.A.Wahit, Faculty of Engineering, Universiti Putra Malaysia, UPM Serdang, Selangor, Malaysia.
3M.H.M.Marhaban, Faculty of Engineering, Universiti Putra Malaysia, UPM Serdang, Selangor, Malaysia.
4A.J.Ishak, Faculty of Engineering, Universiti Putra Malaysia, UPM Serdang, Selangor, Malaysia.
5K. A. M. Annuar, Faculty of Engineering Technology, Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, Durian Tunggal, Melaka, Malaysia.
6M.F. Miskon, Faculty of Engineering Technology, Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, Durian Tunggal, Melaka, Malaysia.
Manuscript received on 24 May 2019 | Revised Manuscript received on 11 June 2019 | Manuscript Published on 26 June 2019 | PP: 99-103 | Volume-8 Issue-1S5 June 2019 | Retrieval Number: A00180681S519/2019©BEIESP
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: These years, there has been continuous development in the research of exoskeleton robot for many purposes like augmentation, physical assistance and rehabilitation therapy. Basedon statistics, aging population with weakened limbs and people with lower limb disabilities are always increasing. Many therapists are required to perform physiotherapy for walking rehabilitation. Exoskeleton robot research contributes in helping those people to regain normal walking ability. In this research, a lower limb exoskeleton robot for rehabilitation is proposed. Developing the exoskeleton structure and control is challenging in assisting patient to initiate locomotion and walk while providing additional power to the motion. The objective of this research is to design a lower limb exoskeleton robot structure with using mechanical engineering CAD software. Then to investigate the tracking response performed by the exoskeleton to given input to its control system. The research started with the lower limb exoskeleton robot CAD drawing. The CAD design is simulated and its dynamic response is studied. This research finding will improve the studies on the effect of the lower limb exoskeleton robot on rehabilitation therapy. Developing a simple and effective lower limb exoskeleton model can significantly contribute to the advancement of the rehabilitation therapy and health industrial needs.
Keywords: Lower Limb Exoskeleton; CAD; Sim Mechanics; Exoskeleton Control Simulation.
Scope of the Article: Low-power design