Use this URL to cite or link to this record in EThOS:
Title: Design and control of lower limb assistive exoskeleton for hemiplegia mobility
Author: Alshatti, Abdullah
ISNI:       0000 0004 7972 0288
Awarding Body: University of Sheffield
Current Institution: University of Sheffield
Date of Award: 2019
Availability of Full Text:
Access from EThOS:
Access from Institution:
Mobility is one of the most vital abilities for human being that enables her/him to preserve independence while performing physical daily life activities. Currently, exoskeletons are considered as significant addition to the assistive technology, in which interest has been intensified in the last decade. There are many challenges related to assistive robotics developments such as safety, efficient power source, lightweight design and affordability. This research aims to develop assistive exoskeleton system to support hemiplegic patient mobility. The developments involve designing humanoid and exoskeleton models in MSC. VisualNastran and implementing a control strategy in MATLAB Simulink to control the active joint trajectories of the humanoid lower limbs and exoskeleton models according to predefined joint angle position for walking, standing up and sitting down motions. Two types of control methods are considered in this research to control the humanoid and exoskeleton models while simulating the assistance mechanism for the designated mobility task. The control methods are Proportional Integral Derivative (PID) and fuzzybased Proportional Derivative (PD) controllers. Moreover, Spiral Dynamic Algorithm (SDA) optimisation approach is used to tune the controller's parameters. Evaluation of the developed controllers is based on a comparative assessment of the obtained simulation results and examining the dynamics of the models. The controller with optimum performance is verified by subjecting the humanoid and exoskeleton models to disturbance forces, constant loads and different speeds of motion cycles. It is demonstrated that the objectives of this research are fulfilled, and the exoskeleton is capable to provide the humanoid with the necessary assistance under different conditions.
Supervisor: Tokhi, M. ; Mahfouf, M. Sponsor: Not available
Qualification Name: Thesis (Ph.D.) Qualification Level: Doctoral
EThOS ID:  DOI: Not available