Designing and implementing an electronic system to control moving orthosis virtual mechanical system to emulate lower limb

Abstract

This work is intended to individuals that have paraplegia as a result of spinal cord injury (SCI) and lost motion mobility, so the goal of this paper is to restore some degree of legged mobility to those people. The paper investigates the development of kinematic and dynamic model for the leg. Modeling and simulation of the system under investigation is implemented and evaluated using MATLAB/ SIMULINK®. Practical results obtained from under investigating lower limb model are compared with their counter parts of normal gait pattern. The error between the desired gait pattern and the obtained results is corrected using optimal control approach. It’s shown that the obtained results have validated the proposed approach. Both practical and simulation results have demonstrated the stability of the proposed control approach. It is believed that the proposed approach will help to establish an integrated system which emulates precisely the normal gait of human.

Keywords

• exoskeleton
• robotics
• kinematic
• gait pattern