Modeling and co-simulation of actuator control for lower limb exoskeleton

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

1 Citation (Scopus)

Abstract

This paper presents a methodology of using co-simulation to study the dynamic performance analysis of a lower limb exoskeleton (LLE). For patients who suffer permanent spinal cord injury, using the LLE is one of the most effective ways to assist their walking ability compared to the wheelchair. The robustness of the LLE performance is related to the precision of the LLE dynamic model. However, the LLE model usually dealt with difficulties in development due to its non linear characteristic. Therefore, a virtual design, modeling and simulation of control strategy for dynamic modeling of LLE by using PID control are presented in this paper. The actuator's modeling on the joint is developed by using Matlab system identification technique. The actuators are coupled with human model, and the dynamics of the LLE are analysed. The three-dimensional LLE model is designed with CATIA software and co-simulation approach is introduced by using multi-body dynamic software called ADAMS (Automatic Dynamic Analysis of Mechanical System). Then to validate the model in ADAMS, we integrate it with Matlab-Simulink control model. The results show that, the model can be used in simulation to prove the controller performance for actuator on the low-level controller. The result is significant for the development of the control systems of the LLE prototype.

Original languageEnglish
Title of host publication2018 3rd International Conference on Control and Robotics Engineering, ICCRE 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages94-98
Number of pages5
ISBN (Electronic)9781538666630
DOIs
Publication statusPublished - 8 Jun 2018
Event3rd International Conference on Control and Robotics Engineering, ICCRE 2018 - Nagoya, Japan
Duration: 20 Apr 201823 Apr 2018

Other

Other3rd International Conference on Control and Robotics Engineering, ICCRE 2018
CountryJapan
CityNagoya
Period20/4/1823/4/18

Fingerprint

Actuators
Dynamic analysis
Controllers
Wheelchairs
Three term control systems
Dynamic models
Identification (control systems)
Control systems

Keywords

  • lower limb exoskeleton
  • Matlab-ADAMS co-simulation
  • modeling
  • PID controller
  • system identification

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Computational Mechanics

Cite this

Aliman, N., Ramli, R., & Mohamed Haris, S. (2018). Modeling and co-simulation of actuator control for lower limb exoskeleton. In 2018 3rd International Conference on Control and Robotics Engineering, ICCRE 2018 (pp. 94-98). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCRE.2018.8376441

Modeling and co-simulation of actuator control for lower limb exoskeleton. / Aliman, Norazam; Ramli, Rizauddin; Mohamed Haris, Sallehuddin.

2018 3rd International Conference on Control and Robotics Engineering, ICCRE 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 94-98.

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

Aliman, N, Ramli, R & Mohamed Haris, S 2018, Modeling and co-simulation of actuator control for lower limb exoskeleton. in 2018 3rd International Conference on Control and Robotics Engineering, ICCRE 2018. Institute of Electrical and Electronics Engineers Inc., pp. 94-98, 3rd International Conference on Control and Robotics Engineering, ICCRE 2018, Nagoya, Japan, 20/4/18. https://doi.org/10.1109/ICCRE.2018.8376441
Aliman N, Ramli R, Mohamed Haris S. Modeling and co-simulation of actuator control for lower limb exoskeleton. In 2018 3rd International Conference on Control and Robotics Engineering, ICCRE 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 94-98 https://doi.org/10.1109/ICCRE.2018.8376441
Aliman, Norazam ; Ramli, Rizauddin ; Mohamed Haris, Sallehuddin. / Modeling and co-simulation of actuator control for lower limb exoskeleton. 2018 3rd International Conference on Control and Robotics Engineering, ICCRE 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 94-98
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