GAIT generation and determination of ZMP trajectory of AIT's Leg Exoskeleton | |
| Author | Kittipat Chirungsarpsook |
| Call Number | AIT Thesis no.ISE-08-14 |
| Subject(s) | Trajectories (Mechanics) Skeleton Artificial legs |
| Note | A report is submitted in partial fulfillment of the requirements for the degree of master of engineering in Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-08-14 |
| Abstract | AIT's Leg Exoskeleton-I (ALEX-I) is the lower extremity robot suit designed to help the elders and paraplegic patients to carryon their daily activities without the help of nursing personnel as to improve the quality of lives for those who are suffering from immobility. This research is an approach of generating the gait pattern that ALEX-I and its wearer can walk safely with the passing criteria of center of mass (CM) and Zero Moment Point (ZMP) theorems for static and dynamic considerations, respectively. The CAD drawing and the assembly of ALEX-I were exported directly to MATLAB's SimMechanics simulation environment to assure accurate positioning of center of gravity (CG) and moment of inertia of each of the links that make up this 12-DOF robot. The gait pattern was visually observed in virtual environment using 3D VRML interpreter while the CM and ZMP trajectories were monitored using MATLAB's 2D graphics representation. This simulation approach shows promising results for the generation of gait pattern required for mounted robot suit to walk, and the correctness of the simulation model was tested by comparing the kinematics properties resulted from the SimMechanics simulation and corresponding results from Corke's Robotics Toolbox [Corke, 1996] referenced in many technical papers. With this developed simulation of ALEX-I, the robot could be tested to confirm its balance gait motion prior to the real implementation on the physical robot that could cause serious damages to the robot itself and its fragile electronic devices. |
| Year | 2008 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-08-14 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Pisut Koomsap;Bohez, Erik L.J. |
| Scholarship Donor(s) | His Majesty the King’s Scholarship |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2008 |