REHABILITATION

LEG ROBOT
Tsheden Tshokey 6204827
Shashank 6205710

1
 01
Project Background
and Significance

2
 BACKGROUND

1. Rise in the number of people with lower limb

disabilities

2. Rehabilitation can play a significant role in

improving the quality of life people with lower
limb injury

https://www.christopherreeve.org/living-with-paralysis/stats-about-paralysis

3
 1. Traditional rehabilitation therapies :

a. very labor intensive especially for gait

rehabilitation
b. Expensive

2. Robotic rehabilitation can :

a. replace the physical training effort of

a therapist, allowing more intensive
repetitive motions and delivering
therapy at a reasonable cost, and
b. assess quantitatively the level of
motor recovery by measuring force
and movement patterns

https://www.semanticscholar.org/paper/DC-Motor-Angular-Position-Control-using-PID-wit
h-Maung-Latt/1c294908d3ce80577454be10f172e8a92249d2b3
4
SIGNIFICANCE
To contribute in fundamental improvement of the
quality of life of people with lower limb disability
through development of efficient and affordable
rehabilitation robots.

To innovate a mimicking system that can be used

to improve rehabilitation robot technology.

5
 02
System
Objectives

6
PHASE 1
OBJECTIVE

TO DESIGN ROBOT LEG THAT CAN

MIMIC THE MOVEMENT OF THE
MASTER LEG.

https://www.popsci.com/technology/article/2012-08/rough-sketch-we-ma
de-robot-moves-person/

7
 PHASE 2
OBJECTIVE
TO FURTHER DEVELOP THE
TECHNOLOGY USED IN PHASE 1 TO
DESIGN A SYSTEM COMPATIBLE FOR
HUMAN USER FOR:

1. REHABILITATION
2. ASSISTANCE
3. SUPPORT
4. AFFORDABLE REHABILITATION
https://www.sciencedirect.com/science/article/pii/S2214031X16303023

8
 03
Systems Design

9
 MASTER SLAVE
( SUIT ON LEG) (ROBOT LEG)

Motor 1
Angle Data
Ref. Sensor Motor 2

Sensor 1

Sensor 2

10
 MASTER SLAVE

Position data

11
 04
Sub Systems
Design

12
“MASTER” SYSTEM DESIGN

01 02 03
INPUT PROCESS OUTPUT

13
MASTER SUBSYSTEM DESIGN

INPUT PROCESS OUTPUT

14
 INPUT
MPU 9250 :
9-axis sensor :Accelerometer,
Gyroscope, Magnetometer

3 MPU-9250 sensors:

○ 1. Hip : reference sensor

○ 2. Thigh : sensor 1
○ 3. Shin : sensor 2
○
● Acquired data used to determine the
angle of knee.

15
 PROCESS Reference sensor

The data acquired from the sensors are

converted into degrees for Gait Analysis sensor 1

1 Microcontroller used to find :

● ref sensor - sensor 1 position =

Angle of thigh sensor 2
● ref sensor - sensor 2 position =
angle of shank
● Angle of thigh - angle of shanks =
Angle of Knee

Processed data sent to Slave subsystem to

control robot leg. https://www.researchgate.net/figure/Knee-angle-estimation-results-a-cal
culation-principle-of-knee-b-swing-angle-of-thigh_fig4_327412619
16
OUTPUT
Θ Hip

● Processed position data from the

microcontroller received as
Output in the form of angle data :
● Θ Knee
○ 1. Knee angle
○ 2. Hip angle

● Angle data received in the form of

analog output.

https://www.researchgate.net/figure/Definition-of-the-knee-and-ankle
-joint-angles_fig1_337752559

17
 “SLAVE” SYSTEM DESIGN

01 02 03
INPUT PROCESS OUTPUT

18
 SLAVE SUBSYSTEM DESIGN
Negative feedback

Negative feedback

INPUT PROCESS OUTPUT

19
INPUT
● Output Angle Data through
master is the input Data for
slave:

○ Knee angle
○ Hip angle

● The analog input goes to their

respective microcontrollers for
robot movement.

https://www.researchgate.net/figure/Definition-of-the-knee-and-ankle
-joint-angles_fig1_337752559

20
 PROCESS
● 2 Arduino Nano used to process
angle to the angular speed :

○ 1 for knee motor of robot

○ 1 for hip motor of robot

● Analyzed using the data acquired

from :
○ Input in the form of angle
○ Negative feedback from
position sensor
https://www.amazon.com/ALMOCN-Compatible-ATmega328P-Contr
oller-Arduino/dp/B08HVPMLKG

21
OUTPUT

● Motor Drive used for the

respective motors :

○ Motor drive 1 receives data

from microcontroller 1 and
controls hip movement.

○ Motor drive 2 receives data

from microcontroller 2
controls knee movement.

https://cf.shopee.co.th/file/2ed4687a9fa9b7f8b358f060e25fc782

22
 OUTPUT
DC MOTOR :
● 24 DC Motor : 2 Motors (big and
small)
● Position Sensor : Potentiometer

PWM : modulation technique that

generates variable-width pulses to
represent the amplitude of an analog
input signal.

Position sensor provides the feedback

to the microcontroller about the
movement of motor https://www.google.com/search?q=pwm+motor+angle&source=lnms&tbm=isch&sa=X
&ved=2ahUKEwie-Nfqo9L3AhVy3jgGHZ9bA6UQ_AUoAXoECAEQAw&biw=1280&bih
=664&dpr=2#imgrc=I7wYHxsKrAGNqM

23
 PID Controller
● Proportional integral derivative control.
● Potentiometer used as position sensor.
● Position sensor provides negative feedback
● The negative feedback used to decrease the error.

https://www.semanticscholar.org/paper/DC-Motor-Angular-Position-Control-using-PID-with-Maung-Latt/1c294908d3ce80577454be10f172e8a92249d2b3 24
Why PID Control

● In-expensive
● Have basic prior knowledge

https://www.ssla.co.uk/wp-content/uploads/2020/09/pid-controller.png

25
26
 Reference
● https://www.christopherreeve.org/living-with-paralysis/stats-about-paralysis
● https://www.google.com/url?sa=i&url=https%3A%2F%2Ffanyv88.com%3A443%2Fhttps%2Fwww.ssla.co.uk%2Fpid-controller%2F&psig=AOvVaw1_-
1YEwyfWebcMiRRe_Lat&ust=1651996864953000&source=images&cd=vfe&ved=0CA0QjhxqFwoTCIjF3Yv2zPcC
FQAAAAAdAAAAABAD
● https://howtomechatronics.com/tutorials/arduino/arduino-dc-motor-control-tutorial-l298n-pwm-h-bridge/
● https://www.google.com/url?sa=i&url=https%3A%2F%2Ffanyv88.com%3A443%2Fhttps%2Fwww.mcucity.com%2Fproduct%2F1779%2Fgy-9250-mp
u-9250-gyroacceleratormagnetometer-sensor-module&psig=AOvVaw1ILDnYcQl8oz8rTSZ5fDEl&ust=1652081855
485000&source=images&cd=vfe&ved=0CA0QjhxqFwoTCND4iNOyz_cCFQAAAAAdAAAAABAE
● https://www.google.com/url?sa=i&url=https%3A%2F%2Ffanyv88.com%3A443%2Fhttp%2Fwww.electroons.com%2Felectroons%2Fservo_control.ht
ml&psig=AOvVaw1s_WrWfhQOvF5Ujxx6XpOr&ust=1652081904658000&source=images&cd=vfe&ved=0CA0Qjh
xqFwoTCKir6euyz_cCFQAAAAAdAAAAABAD
● https://www.google.com/url?sa=i&url=https%3A%2F%2Ffanyv88.com%3A443%2Fhttps%2Fwww.spmicrotech.com%2Fproduct%2F%25E0%25B9%2
582%25E0%25B8%25A1%25E0%25B8%2594%25E0%25B8%25B9%25E0%25B8%25A5%25E0%25B8%2582
%25E0%25B8%25B1%25E0%25B8%259A%25E0%25B8%25A1%25E0%25B8%25AD%25E0%25B9%2580%25
E0%25B8%2595%25E0%25B8%25AD%25E0%25B8%25A3%25E0%25B9%258C-2-%25E0%25B8%258A%25E
0%25B9%2588%25E0%25B8%25AD%25E0%25B8%2587-2a-l298n%2F&psig=AOvVaw1Bzl7FnSIJvQamu3Ss_
8mR&ust=1652081943022000&source=images&cd=vfe&ved=0CA0QjhxqFwoTCKjOzv6yz_cCFQAAAAAdAAAAA
BAD
● https://www.google.com/url?sa=i&url=https%3A%2F%2Ffanyv88.com%3A443%2Fhttps%2Fwww.dreamstime.com%2Fvector-stages-rehabilitation-inj
ury-isometric-physiotherapy-design-illustration-patient-image145757087&psig=AOvVaw1Qg3MuAjP6NikYtpBJ-47
T&ust=1652083068549000&source=images&cd=vfe&ved=0CA0QjhxqFwoTCIjmo5a3z_cCFQAAAAAdAAAAABA
N

27
 Reference
● Zhao, Hong-Yu & Cheng, Wanli & Yang, Ning & Qiu, Sen & Wang, ZHELONG & Wang, Jianjun. (2019).
Smartphone-Based 3D Indoor Pedestrian Positioning through Multi-Modal Data Fusion. Sensors. 19. 4554.
10.3390/s19204554.
● Kim, Jong & Won, Byeong Hee. (2019). Kinematic on Ankle and Knee Joint of Post-Stroke Elderly Patients by
Wearing Newly Elastic Band-Type Ankle–Foot Orthosis in Gait. Clinical Interventions in Aging. Volume 14.
2097-2104. 10.2147/CIA.S222087.
● http://spmicrotech.com/wp-content/uploads/2018/04/L298N-Dual-H-Bridge-DC-Motor-Drive-Controller-01.jpg
● https://www.ssla.co.uk/wp-content/uploads/2020/09/pid-controller.png
●

28