Open Access Open Access  Restricted Access Subscription or Fee Access

Smooth Sub-Phases Based Trajectory Planning for Exoskeleton System


(*) Corresponding author


Authors' affiliations


DOI: https://doi.org/10.15866/iree.v12i3.11603

Abstract


Trajectory is a crucial part of exoskeleton robot design. The appropriate trajectory will affect wearer's safety, health and comfort. The trajectory profile of angular position can be generated as same as actual trajectory profile in term of shape. However, the problem of unreachable intermediate points increases the error between the polynomial trajectory profile and real human trajectory profile. This error directly can affect to generate a less accurate profile that can’t be accurately matched to the human trajectory profile. Based on the aforementioned problem, the objectives of this paper is to investigate the effect of having a different number of sub-phases trajectories on the error related to the real human trajectory profile. Also, this paper presents trajectory generation method that is called quintic polynomial segment with 6th polynomial blend (6-5-6 PSPB). The 6-5-6 PSPB trajectory includes the via points at initial and final of each phase in order to solve the problem of unreachable intermediate points. The result shows a good improvement (almost 8%) in term of error based on the proposed 6-5-6 PSPB technique compared to the three categories of gait analysis. The 6-5-6 PSPB technique shows a good result based on the root mean square error (RMSE) and average difference (AD) error of angular position (0.3146 and 0.031310 Degree respectively). At the end, 6-5-6 PSPB can improve the error and generate a trajectory motion profile that accurately matches to human trajectory profile.
Copyright © 2017 Praise Worthy Prize - All rights reserved.

Keywords


Trajectory Generation; Exoskeleton System; Quintic Polynomial Segment with 6th Polynomial Blend (6-5-6 PSPB); Gait Cycle

Full Text:

PDF


References


Miskon MF, Yusof MB, Review of trajectory generation of exoskeleton robots, In Robotics and Manufacturing Automation (ROMA), IEEE International Symposium on Dec 15 , 2014 , pp. 12-17.
http://dx.doi.org/10.1109/roma.2014.7295854

Ali SA, Annuar KA, Miskon MF, Trajectory Planning For Exoskeleton Robot By Using Cubic And Quintic Polynomial Equation, International Journal of Applied Engineering Research, Vol. 11 n. 13, 2016, pp.7943-7946.
http://dx.doi.org/10.1109/isccsp.2014.6877888

Mohammed MQ, Miskon MF, Bahar MB, Ali F, Walking Motion Trajectory of Hip Powered Orthotic Device Using Quintic Polynomial Equation, Journal of Telecommunication, Electronic and Computer Engineering (JTEC), vol.8 n.7 , Oct 1, 2016 , pp.151-155.
http://dx.doi.org/10.19026/rjaset.8.945

Rai JK, Tewari RP, Chandra D, Trajectory planning for all sub phases of gait cycle for human-like walking, International Journal of Engineering Systems Modelling and Simulation,vol.1 n.4, Jan 1, 2009, pp.206-210.
http://dx.doi.org/10.1504/ijesms.2009.031353

Craig JJ, Introduction to Robotics: Mechanics and Control (Upper Saddle River: Pearson Prentice Hall. 2005).
http://dx.doi.org/10.1080/10640260500403949

Biagiotti L, Melchiorri C, Trajectory Planning For Automatic Machines and Robots (Springer Science & Business Media, Oct 23, 2008).
http://dx.doi.org/10.1007/978-3-540-85629-0_1

Macfarlane S, Croft EA, Jerk-bounded manipulator trajectory planning: design for real-time applications, IEEE Transactions on Robotics and Automation, vol.9 n.1, Feb1, 2003, pp.42-52.
http://dx.doi.org/10.1109/tra.2002.807548

Razali MR, Miskon MF, bin Bahar MB, The influence of the swaying arm angle range to the torso torque of the humanoid robot during walking. In Robotics and Intelligent Sensors (IRIS), Oct 18, 2015, pp. 93-98.
http://dx.doi.org/10.1109/iris.2015.7451593

Aggogeri, F., Borboni, A., Pellegrini, N., Jerk Trajectory Planning for Assistive and Rehabilitative Mechatronic Devices, (2016) International Review of Mechanical Engineering (IREME), 10 (7), pp. 543-551.
http://dx.doi.org/10.15866/ireme.v10i7.10015

Li X, Tan S, Feng X, Rong H, LSPB Trajectory Planning: Design for the Modular Robot Arm Applications. In Information Engineering and Computer Science, ICIECS International Conference IEEE, Dec 19, 2009, pp. 1-4.
http://dx.doi.org/10.1109/iciecs.2009.5365861

Gomes MA, Silveira GL, Siqueira AA, Gait-Pattern Adaptation Algorithms Based On Neural Network For Lower Limbs Active Orthoses, In Intelligent Robots and Systems (IROS), IEEE/RSJ International Conference, Oct 10, 2009, pp. 4475-4480.
http://dx.doi.org/10.1109/iros.2009.5354232

Gomes MA, Siqueira AA, Gobbo RG, Improving the parameters of neural oscillators to generate joint trajectories of an exoskeleton for lower limbs, In Control and Automation (ICCA), 9th IEEE International Conference, Dec 19, 2011, pp. 286-291.
http://dx.doi.org/10.1109/icca.2011.6138064

Bahar MB, Miskon MF, Bakar NA, Ali F, Shukor AZ, Sts motion control using humanoid robot, Research Journal of Applied Sciences, Engineering and Technology, vol.8 n.1, Jul 5, 2014, pp. 95-108.
http://dx.doi.org/10.19026/rjaset.8.945

Sciavicco L, Siciliano B, Modelling and control of robot manipulators (Springer Science & Business Media, Dec 6, 2012).
http://dx.doi.org/10.1088/0957-0233/11/12/709

Siciliano B, Sciavicco L, Villani L, Oriolo G, Robotics: modelling, planning and control. (Springer Science & Business Media, Aug 20, 2010).
http://dx.doi.org/10.1007/978-1-84628-642-1

Bousson, K., Gameiro, T., A Quintic Spline Approach to 4D Trajectory Generation for Unmanned Aerial Vehicles, (2015) International Review of Aerospace Engineering (IREASE), 8 (1), pp. 1-9.
http://dx.doi.org/10.15866/irease.v8i1.4780

Jazar RN, Theory of applied robotics: kinematics, dynamics, and control, (Springer Science & Business Media, Jun 14, 2010).
http://dx.doi.org/10.1007/978-1-4419-1750-8_2

Rai JK, Tewari R, quintic polynomial trajectory of biped robot for human-like walking, In Communications, Control and Signal Processing (ISCCSP), 6th International Symposium , May 21, 2014, pp. 360-363.
http://dx.doi.org/10.1109/isccsp.2014.6877888

Craig JJ, Introduction to robotics : mechanics and control(Upper Saddle River: Pearson Prentice Hall, 2008).
http://dx.doi.org/10.1017/s1052150x00010071

Williams RL, Simplified robotics joint-space trajectory generation with a via point using a single polynomial, Journal of Robotics, Feb 28, 2013, pp.1-7.
http://dx.doi.org/10.1155/2013/735958

Williams RL, Improved robotics joint-space trajectory generation with via point, In ASME, International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, American Society of Mechanical Engineers, Jan 1, 2011, pp. 669-676.
http://dx.doi.org/10.1115/detc2011-47592

Li N, Yan L, Qian H, Wu H, Wu J, Men S, Review on lower extremity exoskeleton robot. Open Automation and Control Systems Journal, Aug 7, 2015 , pp.441-53.
http://dx.doi.org/10.1109/wcica.2012.6359098

Zhang J, Shen L, Shen L, Li A, Gait analysis of powered bionic lower prosthesis, In Robotics and Biomimetic(ROBIO), IEEE International Conference , Dec 14, 2010 , pp. 25-29.
http://dx.doi.org/10.1109/robio.2010.5723297

Jianghai Z, Xiaodong Y, Feng H, Ziyi Z, Walking pattern generation of biped robot using trajectory planning of gravity center, In Mechatronics and Automation (ICMA), IEEE International Conference, Aug 3, 2014 , pp. 890-895.
http://dx.doi.org/10.1109/icma.2014.6885815

Park IW, Kim JY, Lee J, Oh JH, Online free walking trajectory generation for biped humanoid robot KHR-3 (HUBO), In Robotics and Automation (ICRA), Proceedings 2006 IEEE International Conference , May 15, 2006, pp. 1231-1236.
http://dx.doi.org/10.1109/robot.2006.1641877

Winter DA, Biomechanics and motor control of human movement, (John Wiley & Sons, Oct 12, 2009).
http://dx.doi.org/10.1002/9780470549148

Bovi G, Rabuffetti M, Mazzoleni P, Ferrarin M, A multiple-task gait analysis approach: kinematic, kinetic and EMG reference data for healthy young and adult subjects, Gait & posture, vol. 33 n.1, Jan 31, 2011, pp.6-13.
http://dx.doi.org/10.1016/j.gaitpost.2010.08.009

Schwartz MH, Rozumalski A, Trost JP, The effect of walking speed on the gait of typically developing children, Journal of biomechanics, vol.41 n.8, Dec 31, 2008, pp1639-1650.
http://dx.doi.org/10.1016/j.jbiomech.2008.03.015

Osuský, J., Kralev, J., Slavov, T., Robust Position Control for Two Wheels Mobile Robotic System, (2015) International Review of Automatic Control (IREACO), 8 (4), pp. 267-271.
http://dx.doi.org/10.15866/ireaco.v8i4.7046

Win, T., Hesketh, T., Eaton, R., Robotic Tower Crane Modeling and Control (RTCMC) with LQR-DRO and LQR-LEIC for Linear and Nonlinear Payload Swing Minimization, (2016) International Review of Automatic Control (IREACO), 9 (2), pp. 72-87.
http://dx.doi.org/10.15866/ireaco.v9i2.8431

Jouili, K., Braiek, N., A LMI Approach to Tracking Control of Nonlinear Polynomial Systems, (2015) International Review of Automatic Control (IREACO), 8 (3), pp. 233-243.
http://dx.doi.org/10.15866/ireaco.v8i3.6294

Dileep, M., Surekha, K., Vishnu, N., Ascent Phase Trajectory Optimization of Launch Vehicle Using Theta-Particle Swarm Optimization with Different Thrust Scenarios, (2016) International Review of Aerospace Engineering (IREASE), 9 (6), pp. 200-207.
http://dx.doi.org/10.15866/irease.v9i6.10521

Herlambang, T., Djatmiko, E., Nurhadi, H., Ensemble Kalman Filter with a Square Root Scheme (EnKF-SR) for Trajectory Estimation of AUV SEGOROGENI ITS, (2015) International Review of Mechanical Engineering (IREME), 9 (6), pp. 553-560.
http://dx.doi.org/10.15866/ireme.v9i6.6341


Refbacks




Please send any question about this web site to info@praiseworthyprize.com
Copyright © 2005-2024 Praise Worthy Prize