rdf-syntax-grammar
mods:
  schema location: http://www.loc.gov/mods/v3 http://www.loc.gov/standards/mods/v3/mods-3-2.xsd
  title info:
    title: Performance-based adaptive modulation of resistance in hand rehabilitation system using finger-extensor mechanism
  name:
    name part: Shahdad, Ifrah
    role:
      role term: creator
    role:
      role term: author
  name:
    name part: Norsinnira Zainul Azlan
    role:
      role term: degree supervisor
  name:
    name part: Ahmad Jazlan Haja Mohideen
    role:
      role term: degree supervisor
  name:
    name part: International Islamic University Malaysia
    name part: Department of Mechatronics Engineering
  genre: Theses, IIUM local
  origin info:
    place:
      place term: my
    date issued: 2021
  language:
    language term: eng
  physical description:
    extent: xv, 107 leaves : colour illustrations ; 30cm.
  abstract: In robot-aided therapy, control algorithms provide minimal assistance to patients during therapy to encourage active participation from them. This is accomplished by triggering assistance based on patient participation. However, such control strategies fail to account for changes in patient performance within a single exercise session. This leads to a slacking response from the patient which impedes recovery. Furthermore, resistive therapy, which helps patients in regaining motor function more effectively has not been widely implemented in the area of hand rehabilitation. The objective of this research is to develop a performance-based impedance control algorithm for modulation of resistive force exerted on the patient during a single therapy session. First, the system model of the 1-DOF finger extensor rehabilitation machine was developed. Then a performance-based impedance control law was designed with the capability of using force exerted by the patient during therapy as a basis for modulation of resistive force applied by the machine on to the patient. Stiffness parameter of the controller and the consequent force applied on the patient was modulated with each change in patient performance, as measured by a Force Sensing Resistor (FSR). A Graphical User Interface was also developed to provide real-time feedback of patient performance. The system model developed in the first step was validated through simulation and hardware experimentation. Implementation of the control algorithm was carried out on the real system and resistive therapy experiments were performed with a healthy subject. Performance of the developed controller was evaluated by drawing a comparison between the reference force generated by the algorithm and actual force output on the subject during three resistive therapy sessions. Root Mean Squared Error of 0.9875 was obtained which shows that the developed mathematical model represents the real behaviour of the physical system closely. Mean absolu…
  note: by Ifrah Shahdad
  note: Abstracts in English and Arabic.
  note: "A thesis submitted in fulfilment of the requirement for the degree of Master of Science (Mechatronics Engineering)." --On title page.
  note: Thesis (MSMCT)--International Islamic University Malaysia, 2021.
  note: Includes bibliographical references (leaves 101-105).
  subject:
    geographic code: a-my---
  subject:
    topic: Automatic control
    topic: Computer programs
  subject:
    topic: Rehabilitation technology
  subject:
    topic: Robotics
  classification: TJ213
  identifier: http://studentrepo.iium.edu.my/handle/123456789/10640
  record info:
    record content source: UIAM
    record creation date: 210920
    language of cataloging:
      language term: eng