Design, Control And Fabrication of Knee Exoskeleton For Assistive Walking.

A Mid Semester Presentation

By

1. Falak Fatima ME-17-04

2. Mahshida Hamid ME-17-16

Under the supervision of

Dr. Majid Hamid Koul

Department of Mechanical Engineering

Islamic University Of Science and Technology Awantipora.
Objectives

• Analysis and design of an exoskeleton to assist knee joint in children.

• Simulation and implementation of control strategy.
• Fabrication of exoskeleton prototype and integration
Development in the CAD model of knee Exoskeleton

Fig 1.1 CAD model of actuator(a)

Continued.

Fig 1.2 CAD model of actuator(b)

Continued.

Fig 1.3 CAD model of knee exoskeleton .

Assembly of initial prototype
Control of the mechanism in simscapes

• Developing the model of slider crank mechanism in simscapes.

• Making the use of PID controller in order to control position covered by slider.
• Taking proportional, derivative and integral gains as 100,45 and 7 respectively.
• Maintaining a steady state of the position of slider around 0.16m.
Results
Continued.

Fig 1.4 Position plot of slider with PID

Continued

Fig 1.5 speed of slider with PID

Control of speed of DC motor via accelerometer
Control of direction of DC motor via accelerometer
Work to be accomplished

• Assembly and integration of parts required to make a purposed prototype

• Control of DC motor via accelerometer in final prototype.
• Implementing control strategy on the mechanism of our prototype
Thank you
Control of DC motor with accelerometer via Arduino IDE

Fig 1.9 direction control of dc motor with accelerometer

Continued

2.‘Power assist system HAL-3 for gait disorder person’ [H. kawamoto  and Y.Sankai ]

• Utilizes a number of sensing modalities for control 

    like electromyographic electrodes.

• Potentiometers for the joint angle measurement.

• Sensors for ground reaction forces ,gyroscopes

   and accelerometer for torso posture estimation.

• DC motor as an actuator  and harmonic drive to 

    generate torques of each joint.

Continued

Fig 1.6 acceleration of slider crank mechanism

Continued

Fig 1.5 velocity of slider crank mechanism

Kinematic analysis of slider crank mechanism

Fig 1.4 Displacement of slider crank mechanism