Design of an Optimal Controller for Accessing Knee Exoskeletal System

Design of an Optimal Controller for Accessing Knee Exoskeletal System

Subhalaxmi Sahu

Dept of Computer Science and Engineering

E-mail –subhalaxmisahu06@gmail.com

Mrs Mohapatra Girashree Sahu

Dept of Computer Science and Engineering

E-mail - girashree@gift.edu.in

ABSTRACT

People who suffer from neuromuscular disorders may observe abnormalities in their gait. Assistance with walking becomes essential, not optional, for persons who have lost their mobility. However, there is a need for an affordable rehabilitation equipment in areas of India lacking in specialist medical facilities and staff.The goal of this Project is to design and implement a low-cost, control algorithm for a Motor to give various degrees of actuation for knee exoskeleton intended to assist patients in gait rehabilitation. The Acquired Signal from the IMU (Inertial measurement unit) sensor is used to develop a control algorithm to actuate the motor attached to the Knee Exoskeleton which gives the angle of position as per the range of flexion and extension of the Lower Limb.After we obtain the results of the export file, we give a Proportional-Integral-Derivative (PID) controller at each revolute joint. Then, we use a Matlab to analyze the response system of PID controller. For the stability analysis of controller, we plot the transfer function of system into the root locus method. Based on the results of simulation, the PID controller has been able to making each revolute joint of the lower limb exoskeleton robot to become stable.

Keywords: PID Controller, Knee Exoskeletal system, Inertial Measurement, Stability Analysis