Simulation and control of a six degree of freedom lower limb exoskeleton
In this paper, the development of controlling a six Degree of Freedom (DOF) Lower Limb Exoskeleton (LLE) model using the Robot Operating System (ROS) is presented. Moreover, this work proposes a method to analyze kinematic properties and control of the LLE before the prototype. The model of the LL...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Penerbit Universiti Kebangsaan Malaysia
2020
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| Online Access: | http://journalarticle.ukm.my/15324/ http://journalarticle.ukm.my/15324/1/03.pdf |
| _version_ | 1848813772133629952 |
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| author | Mohammad Soleimani Amiri, Rizauddin Ramli, Mohd Aizat Ahmad Tarmizi, Mohd Faisal Ibrahim, Narooei, Khashayar Danesh |
| author_facet | Mohammad Soleimani Amiri, Rizauddin Ramli, Mohd Aizat Ahmad Tarmizi, Mohd Faisal Ibrahim, Narooei, Khashayar Danesh |
| author_sort | Mohammad Soleimani Amiri, |
| building | UKM Institutional Repository |
| collection | Online Access |
| description | In this paper, the development of controlling a six Degree of Freedom (DOF) Lower Limb Exoskeleton (LLE)
model using the Robot Operating System (ROS) is presented. Moreover, this work proposes a method to analyze
kinematic properties and control of the LLE before the prototype. The model of the LLE is described using
Extensible Markup Language (XML) programming in the Unified Robot Description Format (URDF). The
dynamic equation of the six-DoF LLE is determined by using Newton-Euler. In addition, a Proposition-Integral-
Derivative (PID) controller is established in a feedback closed-loop control system. The PID controller is tuned
via Ziegler-Nichols (Z-N). The tuned PID controller is tested in the Gazebo environment to confirm the
performance of the proposed method. The nodes and topics flow chart of the programmed 3-D model of the LLE
is described. Furthermore, a desired angular trajectory based on the phase on walking is defined for each joint
of the LLE. The result shows that the actual pursue the desired angular trajectory for each joint. The average and
maximum error of the angular trajectories for all the joints are less than 0.05 radian. It can be ascertained that
our developed LLE model in the Gazebo simulator can be used for giving an overview of the walking pattern. |
| first_indexed | 2025-11-15T00:23:30Z |
| format | Article |
| id | oai:generic.eprints.org:15324 |
| institution | Universiti Kebangasaan Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T00:23:30Z |
| publishDate | 2020 |
| publisher | Penerbit Universiti Kebangsaan Malaysia |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | oai:generic.eprints.org:153242020-10-12T01:03:53Z http://journalarticle.ukm.my/15324/ Simulation and control of a six degree of freedom lower limb exoskeleton Mohammad Soleimani Amiri, Rizauddin Ramli, Mohd Aizat Ahmad Tarmizi, Mohd Faisal Ibrahim, Narooei, Khashayar Danesh In this paper, the development of controlling a six Degree of Freedom (DOF) Lower Limb Exoskeleton (LLE) model using the Robot Operating System (ROS) is presented. Moreover, this work proposes a method to analyze kinematic properties and control of the LLE before the prototype. The model of the LLE is described using Extensible Markup Language (XML) programming in the Unified Robot Description Format (URDF). The dynamic equation of the six-DoF LLE is determined by using Newton-Euler. In addition, a Proposition-Integral- Derivative (PID) controller is established in a feedback closed-loop control system. The PID controller is tuned via Ziegler-Nichols (Z-N). The tuned PID controller is tested in the Gazebo environment to confirm the performance of the proposed method. The nodes and topics flow chart of the programmed 3-D model of the LLE is described. Furthermore, a desired angular trajectory based on the phase on walking is defined for each joint of the LLE. The result shows that the actual pursue the desired angular trajectory for each joint. The average and maximum error of the angular trajectories for all the joints are less than 0.05 radian. It can be ascertained that our developed LLE model in the Gazebo simulator can be used for giving an overview of the walking pattern. Penerbit Universiti Kebangsaan Malaysia 2020 Article PeerReviewed application/pdf en http://journalarticle.ukm.my/15324/1/03.pdf Mohammad Soleimani Amiri, and Rizauddin Ramli, and Mohd Aizat Ahmad Tarmizi, and Mohd Faisal Ibrahim, and Narooei, Khashayar Danesh (2020) Simulation and control of a six degree of freedom lower limb exoskeleton. Jurnal Kejuruteraan, 32 (2). pp. 197-204. ISSN 0128-0198 http://www.ukm.my/jkukm/volume-322-2020/ |
| spellingShingle | Mohammad Soleimani Amiri, Rizauddin Ramli, Mohd Aizat Ahmad Tarmizi, Mohd Faisal Ibrahim, Narooei, Khashayar Danesh Simulation and control of a six degree of freedom lower limb exoskeleton |
| title | Simulation and control of a six degree of freedom lower limb exoskeleton |
| title_full | Simulation and control of a six degree of freedom lower limb exoskeleton |
| title_fullStr | Simulation and control of a six degree of freedom lower limb exoskeleton |
| title_full_unstemmed | Simulation and control of a six degree of freedom lower limb exoskeleton |
| title_short | Simulation and control of a six degree of freedom lower limb exoskeleton |
| title_sort | simulation and control of a six degree of freedom lower limb exoskeleton |
| url | http://journalarticle.ukm.my/15324/ http://journalarticle.ukm.my/15324/ http://journalarticle.ukm.my/15324/1/03.pdf |