Development of lower body exoskeleton, mathematical modeling and video analysis of its prototype for obtaining customized joint actuation

Abstract

Exoskeleton technology have shown its importance in various fields of application such as military, medical, industrial and commercial. But wide use of this technology is limited due high cost and Customized application according to user. If the exoskeleton has different gait cycle than unique natural gait cycle of user, it will lead to the injuries. Customization of exoskeleton gait cycle can overcome this challenge. Customized gait cycle according to user means control unit should provide output in form of position and torque in accordance to natural gait cycle of unique user. In this paper, A methodology is proposed and validated to obtain customized gait cycle for exoskeleton using video analysis and MATLAB simulation. Validation of Methodology is performed on normal human walking gait cycle. Video analysis performed in HALEX (Human Assistive Lower Limb Exoskeleton)is considered as basic method to conduct video analysis of gait cycle for unique user and data obtained from their experiment considered as base data for position vs time analysis. Later data obtained from video analysis is used as input data to obtain results fromMATLABSimscape-Simulink simulations using genetic algorithm. Above method is applied on biped robot to obtain results for normal human gait analysis. Simulations gives results in both position and torque wrt time. Torque values are compared with values obtained from mathematical model and position values are compared with values obtain from Video gait analysis. Validation of methodology gave satisfactory results and later suggested method can be used to obtain resulted torque and gait cycle for exoskeleton.