Design and control of a leg exoskeleton | |
| Author | Ngo Quang Hieu |
| Call Number | AIT Thesis no.ISE-07-17 |
| Subject(s) | Artificial legs Skeleton |
| 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-07-17 |
| Abstract | The thesis deals with the design, implementation and testing of a position control system for a leg exoskeleton by using DC motor. The proposed thesis consisted of two major parts; first to design a leg exoskeleton model and second, to design and build the control system for position control to study the effect of the system when the DC motors are controlled at the same time. The twelve degree of freedom model was designed by using SolidWorks software. First, the 3D model was designed as system design. After that, all parts of the model were shown in the drawing by AutoCad software as detail design. During designed phase, some requirements were also considered as important parameters: length, weight of leg, system stable, ... The platform (both hardware and software) for position control of two DC motors was built using the principle PID control. The proposed system was implemented using ET-BASE PSoC CY8C27643 from ETT Company (Thailand). The PID control algorithn1 was written in C language by using PSoC Designer software. The PC/1 04 CPU Module (PCM-3350) from Advantech Company (Taiwan) was used to store data and it communicated with PSoC via RS232. Incremental encoder model "TRD-S1024V" from Koyo Company (Japan), with 1024 pulses per revolution, was used to feed back the position to the control loop. It was found that the effect of controlling single and two motors by using step response and trajectory control on the position performance. The method for controlling more DC motors at the same time by using trajectory control was also considered as one solution for control system |
| Year | 2007 |
| Corresponding Series Added Entry | Asian Institute and Technology. Thesis ; no. ISE-07-17 |
| 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) | Bohez, Erik L. J.;Pisut Koomsap; |
| Scholarship Donor(s) | MOET, Vietnam - AIT Fellowship; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2007 |