Balancing control of AIT's Leg Exoskeleton under unknown extrenal perturbations | |
| Author | Choopong Chauypen |
| Call Number | AIT Thesis no.ISE-08-28 |
| Subject(s) | Balancing of machinery Skeleton Artificial legs |
| Note | A thesis 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-08-28 |
| Abstract | In this thesis, the whole-body cooperate balancer is designed to control the balance of AIT's leg exoskeleton which it has 12 DOF. This balancer can achieve it purpose by extension the range of inverse kinematics by integrating the mass distribution information to whole-body and use it control the position of total COG. The combined end-effector manipulator improves corrected posture close to the original posture which before the exoskeleton agent the unknown external perturbation. Also P-controller can improve the time efficiency of disturbance rejection. The author use MATLAB software to implement and simulate this balancer. It can provide physical environments and many tools before implementation of real exoskeleton. |
| Year | 2008 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-08-28 |
| 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) | Afzulpurkar, Nitin V.;Pisut Koomsap |
| Scholarship Donor(s) | National Science and Technology Development Agency (NSTDA), Thailand |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2008 |