Adaptive control of one-DOF portable rehabilitation robot for wrist training

Stroke is one of the leading causes of severe disability. The application of rehabilitation robots is increasing rapidly to help in recovering this disability through rehabilitation training. By using robot, the patient may perform the training more frequently. Various rehabilitation robots have bee...

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Main Author:	Zahid, Junaid
Format:	Thesis
Language:	English
Published:	2018
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/78642/1/JunaidZahidMFKE2018.pdf
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spelling	my-utm-ep.786422018-08-29T07:35:33Z Adaptive control of one-DOF portable rehabilitation robot for wrist training 2018-01 Zahid, Junaid TK Electrical engineering. Electronics Nuclear engineering Stroke is one of the leading causes of severe disability. The application of rehabilitation robots is increasing rapidly to help in recovering this disability through rehabilitation training. By using robot, the patient may perform the training more frequently. Various rehabilitation robots have been developed with a set of rehabilitation training programs with different haptic modalities. Different controllers were applied to provide accurate motor control for the rehabilitation robot and PID controller is one of the commonly used controllers. A robot named CR2- Haptic, which is used to train upper limbs, was developed in UTM with a set of rehabilitation training programs with PID controller that was designed for the patients having standard weight and wrist flexibility. The robot is successfully being used for training of stroke patients. One of the limitations for the PID controller is that it is not able to adapt its controller if the load is over its capability, since the robot controller is tuned based on a set standard weight. Therefore, the robot controller was not able to adapt itself to rotate the patient’s hand for patient with high muscle stiffness which is common in stroke patient. Thus, it limits the use of the device to only patient with low muscle spasticity. Whenever the unknown and inaccessible load torque is imposed, the system will have the steady-and/or transientstate error. Therefore, in this project, a model reference adaptive controller (MRAC) which is able to adapt itself based on different patient conditions has been designed using Lyapunov method and implemented on the CR2-Haptic device to reduce the positioning error and make it more beneficial for wide range of stroke patients. The controller has been tested on subjects of different muscles stiffness. It has performed better for accurate positioning of the end effecter for patients with different weight and muscle stiffness. The results show that the designed controller is able to cope with the variations in limb’s stiffness of the patients without the aid of any additional stiffness detection sensors. 2018-01 Thesis http://eprints.utm.my/id/eprint/78642/ http://eprints.utm.my/id/eprint/78642/1/JunaidZahidMFKE2018.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:108136 masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Zahid, Junaid Adaptive control of one-DOF portable rehabilitation robot for wrist training
description	Stroke is one of the leading causes of severe disability. The application of rehabilitation robots is increasing rapidly to help in recovering this disability through rehabilitation training. By using robot, the patient may perform the training more frequently. Various rehabilitation robots have been developed with a set of rehabilitation training programs with different haptic modalities. Different controllers were applied to provide accurate motor control for the rehabilitation robot and PID controller is one of the commonly used controllers. A robot named CR2- Haptic, which is used to train upper limbs, was developed in UTM with a set of rehabilitation training programs with PID controller that was designed for the patients having standard weight and wrist flexibility. The robot is successfully being used for training of stroke patients. One of the limitations for the PID controller is that it is not able to adapt its controller if the load is over its capability, since the robot controller is tuned based on a set standard weight. Therefore, the robot controller was not able to adapt itself to rotate the patient’s hand for patient with high muscle stiffness which is common in stroke patient. Thus, it limits the use of the device to only patient with low muscle spasticity. Whenever the unknown and inaccessible load torque is imposed, the system will have the steady-and/or transientstate error. Therefore, in this project, a model reference adaptive controller (MRAC) which is able to adapt itself based on different patient conditions has been designed using Lyapunov method and implemented on the CR2-Haptic device to reduce the positioning error and make it more beneficial for wide range of stroke patients. The controller has been tested on subjects of different muscles stiffness. It has performed better for accurate positioning of the end effecter for patients with different weight and muscle stiffness. The results show that the designed controller is able to cope with the variations in limb’s stiffness of the patients without the aid of any additional stiffness detection sensors.
format	Thesis
qualification_level	Master's degree
author	Zahid, Junaid
author_facet	Zahid, Junaid
author_sort	Zahid, Junaid
title	Adaptive control of one-DOF portable rehabilitation robot for wrist training
title_short	Adaptive control of one-DOF portable rehabilitation robot for wrist training
title_full	Adaptive control of one-DOF portable rehabilitation robot for wrist training
title_fullStr	Adaptive control of one-DOF portable rehabilitation robot for wrist training
title_full_unstemmed	Adaptive control of one-DOF portable rehabilitation robot for wrist training
title_sort	adaptive control of one-dof portable rehabilitation robot for wrist training
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2018
url	http://eprints.utm.my/id/eprint/78642/1/JunaidZahidMFKE2018.pdf
_version_	1747818035648921600

Adaptive control of one-DOF portable rehabilitation robot for wrist training

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