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

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents development of control system for one side hip-knee joint of reciprocating gait orthosis (RGO) that aim to aid upright ambulation for paraplegic. The developed RGO structure is equipped with four direct current (DC) servo motors to deliver torque and provide ability for patient to walk. A control system with PID controller for DC motors is developed in MATLAB Simulink to execute real-time task and the system response is identified graphically. The trajectory of RGO links is generated by the input value of one side of its hip and knee joint while its final position is predicted by kinematic analysis. The results based on the RGO kinematic analysis shows the improvement on the controller. Finally, it can be ascertained that our developed control system was able to demonstrate a normal walking gait pattern.

Original languageEnglish
Title of host publicationCommunications in Computer and Information Science
PublisherSpringer Verlag
Pages246-254
Number of pages9
Volume376 CCIS
ISBN (Print)9783642404085
DOIs
Publication statusPublished - 2013
Event16th FIRA RoboWorld Congress, FIRA 2013 - Kuala Lumpur
Duration: 24 Aug 201329 Aug 2013

Publication series

NameCommunications in Computer and Information Science
Volume376 CCIS
ISSN (Print)18650929

Other

Other16th FIRA RoboWorld Congress, FIRA 2013
CityKuala Lumpur
Period24/8/1329/8/13

Fingerprint

Control systems
Kinematics
Controllers
MATLAB
Torque
Trajectories

Keywords

  • Kinematic analysis
  • Real time window target
  • Reciprocating gait orthosis

ASJC Scopus subject areas

  • Computer Science(all)

Cite this

Ahmad Tarmizi, M. A., Ramli, R., Abdullah, M. F., Teng, P. L., & Mohamed Haris, S. (2013). Control System Development for One-Side Hip-Knee Joint of Reciprocating Gait Orthosis. In Communications in Computer and Information Science (Vol. 376 CCIS, pp. 246-254). (Communications in Computer and Information Science; Vol. 376 CCIS). Springer Verlag. https://doi.org/10.1007/978-3-642-40409-2_21

Control System Development for One-Side Hip-Knee Joint of Reciprocating Gait Orthosis. / Ahmad Tarmizi, Mohd Aizat; Ramli, Rizauddin; Abdullah, Mohd Faizol; Teng, Phun Li; Mohamed Haris, Sallehuddin.

Communications in Computer and Information Science. Vol. 376 CCIS Springer Verlag, 2013. p. 246-254 (Communications in Computer and Information Science; Vol. 376 CCIS).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ahmad Tarmizi, MA, Ramli, R, Abdullah, MF, Teng, PL & Mohamed Haris, S 2013, Control System Development for One-Side Hip-Knee Joint of Reciprocating Gait Orthosis. in Communications in Computer and Information Science. vol. 376 CCIS, Communications in Computer and Information Science, vol. 376 CCIS, Springer Verlag, pp. 246-254, 16th FIRA RoboWorld Congress, FIRA 2013, Kuala Lumpur, 24/8/13. https://doi.org/10.1007/978-3-642-40409-2_21
Ahmad Tarmizi MA, Ramli R, Abdullah MF, Teng PL, Mohamed Haris S. Control System Development for One-Side Hip-Knee Joint of Reciprocating Gait Orthosis. In Communications in Computer and Information Science. Vol. 376 CCIS. Springer Verlag. 2013. p. 246-254. (Communications in Computer and Information Science). https://doi.org/10.1007/978-3-642-40409-2_21
Ahmad Tarmizi, Mohd Aizat ; Ramli, Rizauddin ; Abdullah, Mohd Faizol ; Teng, Phun Li ; Mohamed Haris, Sallehuddin. / Control System Development for One-Side Hip-Knee Joint of Reciprocating Gait Orthosis. Communications in Computer and Information Science. Vol. 376 CCIS Springer Verlag, 2013. pp. 246-254 (Communications in Computer and Information Science).
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