Development of two degree of freedom rehabilitation robot with assistive force control /

Amongst the major challenges in post-stroke rehabilitation are the repetitiveness nature of rehabilitation procedure, and the accessibility of therapists for long-term treatment. In manual rehabilitation procedure, the patient is subjected to repetitive mechanical movement of the affected limb by th...

Full description

Saved in:
Bibliographic Details
Main Author: Abu Ubaidah bin Shamsudin
Format: Thesis
Language:English
Published: Kuala Lumpur : Kulliyyah of Engineering, International Islamic University Malaysia, 2013
Subjects:
Online Access:Click here to view 1st 24 pages of the thesis. Members can view fulltext at the specified PCs in the library.
Tags: Add Tag
No Tags, Be the first to tag this record!
LEADER 032750000a22002770004500
008 130711t2013 my a g m 000 0 eng d
040 |a UIAM  |b eng 
041 |a eng 
043 |a a-my--- 
050 |a R857.R63 
100 0 |a Abu Ubaidah bin Shamsudin 
245 1 |a Development of two degree of freedom rehabilitation robot with assistive force control /  |c by Abu Ubaidah bin Shamsudin 
260 |a Kuala Lumpur :   |b Kulliyyah of Engineering, International Islamic University Malaysia,   |c 2013 
300 |a xvii, 110 leaves :  |b ill. ;  |c 30cm. 
502 |a Thesis (MSMCT)--International Islamic University Malaysia, 2013. 
504 |a Includes bibliographical references (leaves 90-96). 
520 |a Amongst the major challenges in post-stroke rehabilitation are the repetitiveness nature of rehabilitation procedure, and the accessibility of therapists for long-term treatment. In manual rehabilitation procedure, the patient is subjected to repetitive mechanical movement of the affected limb by the therapist. In one of the techniques called active-assist exercise, the subject moves his affected limb along a specified trajectory with the therapist guiding the motion. The therapist gives some assistance to the subject to complete the course if deemed necessary and the procedure repeats. The significant advantages of using robots in assisting rehabilitation are its efficiency and fatigue free. Therefore, robots need to be developed to have the capabilities of human therapist that can assess patient stroke condition and provide suitable rehabilitation therapy. This work focuses on developing a two-degree of freedom rehabilitation robotic platform for rehabilitating the upper extremity of post stroke patients. The therapy is restricted to the horizontal motion only. A new framework for the robot controller system is developed for the robotic platform. In particular, a low-level controller, which is a form of force controller is developed and a high-level controller, which is implemented as a supervisory controller is develop based on discrete event system theory. Simulation results show that the controller is capable of governing the active-assist exercise through autonomous guidance during the therapeutic procedure. In addition the assessment of the muscle condition is done through Chedoke-McMaster stroke assessment guidelines. In this study, a group of healthy subjects are chosen to participate in the experiment to study the performance of the robotic system. 
596 |a 1 
655 7 |a Theses, IIUM local 
690 |a Dissertations, Academic  |x Department of Mechatronics Engineering  |z IIUM 
710 2 |a International Islamic University Malaysia.  |b Department of Mechatronics Engineering 
856 4 |u http://studentrepo.iium.edu.my/handle/123456789/4689  |z Click here to view 1st 24 pages of the thesis. Members can view fulltext at the specified PCs in the library. 
900 |a hab-ls-naw 
999 |c 437566  |d 470126 
952 |0 0  |6 T R 000857 R63 A165D 2013  |7 0  |8 THESES  |9 759010  |a IIUM  |b IIUM  |c MULTIMEDIA  |g 0.00  |o t R 857 R63 A165D 2013  |p 00011288965  |r 2017-10-20  |t 1  |v 0.00  |y THESIS 
952 |0 0  |6 TS CDF R 857 R63 A165D 2013  |7 0  |8 THESES  |9 851083  |a IIUM  |b IIUM  |c MULTIMEDIA  |g 0.00  |o ts cdf R 857 R63 A165D 2013  |p 00011288966  |r 2017-10-26  |t 1  |v 0.00  |y THESISDIG