LQR-Based Design and Implementation of Lower Limb Exoskeleton Control for Paraplegic

Volume 3 - Issue 5

Louay Chachati¹ and Avin Hasan²*

Received: October 24, 2019;   Published: November 21, 2019;

DOI: 10.32474/OAJBEB.2019.03.000171

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Abstract

The present paper is oriented to individuals with paraplegia as a result of spinal cord injury (SCI) and lost motion mobility. The aim of this research is to retrieve some degree of legged mobility to those people. The paper investigates the development of kinematic and dynamic models for the leg. Modeling and simulation of the system under investigation is implemented and evaluated using MATLAB/SIMULINK®. Practical results obtained from the developed lower limb model are compared with their counter parts of normal gait pattern. It is 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 as accurately as possible the normal gait of human.

Keywords:Robotics; kinematic; gait pattern; LQR; PID

Abstract| Introduction| Exoskeleton Modeling| Controller System Design| Simulation Results| Hardware System Design| Results| Conclusion| References|