Stairs Climbing Trajectories 2.3.3 Gap of Knowledge
23
3 RESEARCH METHODOLOGY
25 3.1 Stairs Climbing Trajectory
25 3.2 Validation of Ideas
31 3.2.1 Objectives
31 3.2.2 Experimental Setup and Procedures
31 3.2.2.1 Validation of Proposed Trajectory
31 3.2.2.2 Accuracy Test for Prototype
33 3..2.2.3 Accuracy Test for Proposed Stairs Climbing
Trajectory 36
3.3 Development of Prototype for Validation of Ideas 40
3.3.1 Designed of Prototype 40
3.3.2 Dynamic Planning 45
3.3.3Selection of Materials and Components 46
4 RESULT AND DISCUSSION
49 4.1 Validation of Proposed Stairs Climbing Trajectory
49 4.1.1 Proposed Trajectory of Stairs Climbing
49 4.1.2 Model Simulated in Matlab
57
4.2 Accuracy and Repeatability Test for Prototype 59
4.2.1 Drift Pattern of the Motors 61
4.2.2 Accuracy and Repeatability test of Motor 1 and Motor 3 hip Joint
63
4.2.3 Accuracy and Repeatability test of Motor 1 and Motor 3 hip Joint
67
4.3 Accuracy Test for Proposed Stairs Climbing Trajectory 71
5 CONCLUSION AND FUTURE WORK
80
REFERENCES 82
APPENDICES 84
LIST OF TABLES
TABLES TITLE
PAGE
1.1 Number of disable person registered in
Malaysia in 2011. Adapted in [1] 1
2.1 Comparison of stairs climbing trajectories and
controller 19
3.1 Parameter of real model and simulated model
32 3.2
Mechanical design of prototype 42
4.1 Results of theoretical
and obtained of the flexion angles of hip for stairs climbing
trajectory. 51
4.2 Results of theoretical
and obtained of the flexion angles of knee for stairs climbing
trajectory. 55
4.3 The simulation model anatomy in Matlab
69 4.4
Summarize of data of all motors for drift pattern test
61
4.5 Summarize of data for Motor 1 Left hip joint
using statistical method 63
4.6 Summarize of data for Motor 3 Right hip joint
using statistical method 63
4.7 Summarize of data for Motor 2 Left knee
joint using statistical method 67
4.8 Summarize of data for Motor 4 Right knee
joint using statistical method 67
4.9 Modified of the proposed trajectory for stairs
climbing 71
4.10 Modified proposed trajectory value and encoder
value for hip joint 72
4.11 Modified proposed trajectory value and encoder
value for knee joint 73
4.12 Comparison of theoretical angles and proposed
trajectory for both hip and knee joint measured from the prototype
74
LIST OF FIGURES
FIGURES TITLE
Page
1.1 Total population by age group and sex, Malaysia,
2002 and 2012. Adapted from [1] 1
1.2 Percentage of disability due to stroke
2 1.3
Outline Dissertation of Report 3
2.1 Walking cycle for stairs climbing motion
6 2.2
Weight Acceptance Phase. Adapted from [8] 8
2.3 Pull up phase. Adapted from [8]
88 2.4
Forward continuous phase. Adapted from [8] 9
2.5 Foot clearance phase. Adapted from [8]
9 2.6
Foot placement phase Adapted from [8] 9
2.7 A schematic illustrating the gait cycles of A step-
over-step and B step-by-step stepping. Adapted from [8]
10
2.8 Joint angle during ascent and descent at minimum,
normal and maximum inclinations and during level walking averaged over all subject. Adapted from [10]
11
2.9 Mean sagittal angles of hip and knee joint during stair
ascent. Adapted from [8] 11
2.10 System Block Diagram for exoskeleton robot.
12 2.11
Free body diagram of the exoskeleton robot 13
2.12 Two link planar manipulator. Adapted from [12]
15 3.1
Joint angle during ascent and descent at minimum, normal and maximum inclinations and during level
walking averaged over all subject. 26
3.2 Hip joint trajectory angles for stairs climbing.
Adapted from [11] 27
3.3 Knee joint trajectory angles for stairs climbing.
29
Adapted from [11] 3.4
Real model 33
3.5 Simulate model simulated in Matlab R2009a
33 3.6
Conceptual experiment planning for accuracy test for prototype
35
3.7 Experiment set up for accuracy test for prototype
35 3.8
Water level measuring the horizon of the holder 36
3.9 Conceptual experiment planning for accuracy test for
stairs climbing trajectory 38
3.10 Experiment set up for accuracy test for stairs
climbing trajectory 38
3.11 System overview of system
40 3.12
Lower limb assistive device for stairs climbing trajectory
41
3.13 Side view of the experiment prototype
44 3.14
Front view of the experiment prototype 44
3.15 Free body diagram of hip and knee performing stairs
climbing 45
3.16 Cytron Technologies DC geared motor SPG30.
Adapted from [20] 47
3.17 Arduino Uno. Adapted from [21]
47 4.1
Comparison of theoretical θ ° and calculated θ ° for hip angles flexion
52
4.2 Comparison of theoretical θ ° and calculated θ °
for knee angles flexion 56
4.3 Phases of stairs climbing trajectory in a normal
human gait 58
4.4 Phases of stairs climbing trajectory in Matlab
simulation 58
4.5 Motor name and location
60 4.6
Drift Pattern of the motors 62
4.7 Angles versus time graph for hip motors
64 4.8
Angles of deviation for hip motors 65
4.9 The 9
th
Accuracy and Repeatability test Motor located at left hip
66
4.10 Angles versus time graph for knee motors
68 4.11
Angles of deviation for knee motors 69
4.12 The 3
th
Accuracy and Repeatability test Motor located at right hip
70
4.13 Comparison of human stairs climbing gait and the
proposed trajectory for hip joint of the prototype 75
4.14 Comparison of human stairs climbing gait and the
proposed trajectory for knee joint of the prototype 76
4.15 Variation of deviate angles for both hip joints and
knee joints of the prototype 78
4.16 Phases of stairs climbing in a normal human gait
79 4.117
Phases of stairs climbing of prototype programmed with human behavior left leg and proposed
trajectory derived from trajectory generation cubic polynomial
79
LIST OF APPENDICES
APPENDIX TITLE
PAGE A
Lab sheet for DC motor test 84
B Lab sheet of Validation of Proposed Trajectory
85 C
Lab sheet of Accuracy Test of prototype 89
D Lab Sheet of Accuracy test for Stairs Climbing
Trajectory 97
E Development of Prototype
103 F
Coding in Matlab 104
G Coding of the Microcontroller
109
CHAPTER 1
INTRODUCTION
1.1 Motivation
