TY - JOUR
T1 - Walking motion trajectory of hip powered orthotic device using quintic polynomial equation
AU - Mohammed, Marwan Qaid
AU - Miskon, Muhammad Fahmi
AU - bin Bahar, Mohd Bazli
AU - bin Ali, Fariz
N1 - © 2016, Universiti Teknikal Malaysia Melaka. All rights reserved.
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0)
Data availability statement:
Not present.
PY - 2016/11/17
Y1 - 2016/11/17
N2 - In lower limb exoskeleton system walking motion profile generation, cubic polynomial is commonly used to generate smooth walking profile on flexion angle, velocity and acceleration data of three joint movements (ankle, knee and hip joints). However, cubic polynomial does not closely matched human motion. For this reason, a higher-order-polynomial i.e. quintic polynomial is proposed to gene- rate walking motion profile. Error analysis was conducted to measure how closely quintic polynomial could represent human walking motion profile. Result shows that quantic polynomial could closely represent human walking trajectory with maximum RMS error of 0.2607rad occurred during mid-swing phase.
AB - In lower limb exoskeleton system walking motion profile generation, cubic polynomial is commonly used to generate smooth walking profile on flexion angle, velocity and acceleration data of three joint movements (ankle, knee and hip joints). However, cubic polynomial does not closely matched human motion. For this reason, a higher-order-polynomial i.e. quintic polynomial is proposed to gene- rate walking motion profile. Error analysis was conducted to measure how closely quintic polynomial could represent human walking motion profile. Result shows that quantic polynomial could closely represent human walking trajectory with maximum RMS error of 0.2607rad occurred during mid-swing phase.
M3 - Article
AN - SCOPUS:84996968397
SN - 2180-1843
VL - 8
SP - 151
EP - 155
JO - Journal of Telecommunication, Electronic and Computer Engineering
JF - Journal of Telecommunication, Electronic and Computer Engineering
IS - 7
ER -