02811nas|a2200433 a 4500 20260817171016.0 100807s2008 th uu|m rtt 0| a1eng d .b1208136x AIT Thesis no.ISE-08-28 Choopong Chauypen Balancing control of AIT's Leg Exoskeleton under unknown extrenal perturbations Pathum Thani, Thailand : Asian Institute of Technology, 2008 1 online resource (52 p.) : ill. Thesis ; no. ISE-08-28 A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics, School of Engineering and Technology Thesis (M.Eng.) - Asian Institute of Technology, 2008 In this thesis, the whole-body cooperate balancer is designed to control the balance of AIT's leg exoskeleton which it has 12 DOF. This balancer can achieve it purpose by extension the range of inverse kinematics by integrating the mass distribution information to whole-body and use it control the position of total COG. The combined end-effector manipulator improves corrected posture close to the original posture which before the exoskeleton agent the unknown external perturbation. Also P-controller can improve the time efficiency of disturbance rejection. The author use MATLAB software to implement and simulate this balancer. It can provide physical environments and many tools before implementation of real exoskeleton. Balancing of machinery Skeleton Artificial legs Manukid Parnichkun, Chairperson Afzulpurkar, Nitin V., Examination Committee Pisut Koomsap, Examination Committee National Science and Technology Development Agency (NSTDA), Thailand, Scholarship Donor Asian Institute of Technology. Thesis ; no. ISE-08-28 Full-Text http://203.159.5.9/ait-thesis/detail.php?q=B03241 .b1208136x mnait u 240329 0 100807 m a u 0 mnait mnait mnarc 20 40 Barcode : 30050120701031 CREATED : 2010-07-08 RECORD # : i1264125x LPATRON : 0 LCHKIN : - # RENEWALS : 0 # OVERDUE : 0 IUSE3 : 0 TOT CHKOUT : 0 TOT RENEW : 0 Barcode : 30050120701023 CREATED : 2010-07-08 RECORD # : i12641261 LPATRON : 1024325 LCHKIN : 2013-09-09 # RENEWALS : 0 # OVERDUE : 0 IUSE3 : 0 TOT CHKOUT : 1 TOT RENEW : 0 Barcode : 30050160030812 CREATED : 2016-03-16 RECORD # : i12892117 LPATRON : 0 LCHKIN : - # RENEWALS : 0 # OVERDUE : 0 IUSE3 : 0 TOT CHKOUT : 0 TOT RENEW : 0 10552 10552 0 0 0 0 MAIN MAIN mnait 2026-08-17 50.00 0 AIT Thesis no.ISE-08-28 30050120701031 2026-08-17 17:10:16 1 2026-08-17 20 0 0 0 0 MAIN MAIN mnait 2026-08-17 50.00 0 AIT Thesis no.ISE-08-28 30050120701023 2026-08-17 17:10:16 2 2026-08-17 20 0 0 0 0 MAIN MAIN mnarc 2026-08-17 0 AIT Thesis no.ISE-08-28 30050160030812 2026-08-17 17:10:16 1 2026-08-17 40