Dynamic modelling and control of robotic exoskeleton with balance stabilizer

Abstract

Wearable robots have drawn much intention recently due their potential ability to help the stroke and spinal cord injury patients to regain the ability of walking. However, the biggest challenge is the balancing of the wearable robot and how the wearable robot can balance is still an open question. Many subjects rely on assistive devices, such as crutch, walker, etc. to provide the stability during the walking. However, high energy cost and the high potential of falling during using these devices cause a high abandoning rate. Moreover, most of developed wearable devices are not appropriate for people with quadriplegia and hemiplegic.

The issues are tackled by virtue of a proposed balance stabilizer mechanism. However, the testing of the stabilizer mechanism is labour intensive. In order to solve this problem, simulation models are needed to test the mechanism before it has been manufactured and tested. In this way, both manufacturing cost and testing cost will be greatly reduced. In this project, a gait pattern generation method based on cubic spline interpolation is proposed. Additionally, a simulation model which can test the performance of the generated gait pattern is developed. Finally, the gait pattern is by the physiotherapist from Tan Tock Seng Hospital to access the feasibility of the exoskeleton.