Kinematic and Dynamic Model Analysis for An Improved Design of Home-Based Wearable Lower Limb Rehabilitation Robot

Annisa, Jamali and Mohd Syahmi, Jamaludin and Shahrol, Mohamaddan and Helmy, Hazmi (2023) Kinematic and Dynamic Model Analysis for An Improved Design of Home-Based Wearable Lower Limb Rehabilitation Robot. In: 8th Brunei International Conference on Engineering and Technology 2021, 8–10 November 2021, Bandar Seri Begawan, Brunei Darussalam.

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Abstract

This paper presents the analysis of the kinematic and dynamic modeling of a wearable lower-limb robot (WLLR) for home-based applications. SOLIDWORKS software was utilized, and the concept of modular configuration was adopted into the design. The Denavit Hartenberg (DH) and geometric methods were employed to obtain the theoretical of forward and inverse kinematics models respectively. The Lagrangian formulation of the kinetic and potential energy method was selected to derive the joint torque equation. For validation, MATLAB Robotic ToolBox was utilized to simulate forward and inverse kinematic behaviour of the WLLR while MATLAB SimMechanics was used to investigate the maximum torque for the hip and knee joint in various ranges of motion (ROM) and walking conditions. The results showed a strong agreement of the simulation and the theoretical model for the forward and inverse kinematic of WLLR. The torque required for the hip and knee joints in walking conditions was less than the torque required in various ranges of motion. The maximum torque recorded at the hip and knee in ROM condition is 74.73 Nm and 15.05 Nm respectively while the maximum torque recorded for the hip and knee in the walking condition is 55.00 Nm and 11.01 Nm respectively. This analysis is essential as a basis for further actuator selection and control system development.

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