Design And Implementation of PID Control Algorithm for Knee Exoskeleton

People who suffer from neuromuscular disorders may observe abnormalities in their gait. Assistance with walking becomes essential, not optional, for persons who have lost their mobility. However, there is a need for an affordable rehabilitation equipment in areas of India lacking in specialist medical facilities and staff.The goal of this Project is to design and implement a low-cost, control algorithm for a Motor to give various degrees of actuation for knee exoskeleton intended to assist patients in gait rehabilitation. The Acquired Signal from the IMU (Inertial measurement unit) sensor is used to develop a control algorithm to actuate the motor attached to the Knee Exoskeleton which gives the angle of position as per the range of flexion and extension of the Lower Limb.