Tirta, Andika and Budiarto, Eka and Kidarsa, Lydia (2023) Development of Closed Loop Control for Leg Exoskeleton. Bachelor thesis, Swiss German University.

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Abstract

Technological advancement is very fast. Many of the human problems that used to be impossible to solve, can now be easily solved, with the help of the latest technology. One of these technologies is the exoskeleton. An exoskeleton is an external framework used to assist humans in moving, but such equipment usually requires complex control so that the movements of the exoskeleton follow human movements in general, especially the gait cycle. More specifically, this thesis aims to develop a PID (Proportional-Derivative-Integral) control system for the leg exoskeleton to follow the human gait cycle with good accuracy and fulfill the maximum constraint while maintaining a functional and fast-responding system in a one-second cycle. To develop such control system, Lagrange method is used to mathematically model the non-linear system. In this thesis, Genetic Algorithms is used to fine-tune the PID parameter value to fit in the research objective, and a digital signal filter is used to filter any noise created by the system. The designed control system is implemented with the following results, PID control can control the leg exoskeleton to follow human gait with average error per sample 0.03516% for hip and 0.0.0352% for knee, GA can help to find the best PID parameter value for a non-linear system, and signal filtering helps reduce the noise generated by the system.

Item Type:	Thesis (Bachelor)
Uncontrolled Keywords:	Leg Exoskeleton, Lagrange, PID Control, Genetic Algorithm, Signal Filter, Human Gait
Subjects:	T Technology > TJ Mechanical engineering and machinery T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics
Divisions:	Faculty of Engineering and Information Technology > Department of Mechatronics Engineering
Depositing User:	Library SGU
Date Deposited:	13 Apr 2023 03:59
Last Modified:	13 Apr 2023 03:59
URI:	http://repository.sgu.ac.id/id/eprint/2564

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