Finger exoskeleton for early acute stroke rehabilitation: control design and performance analysis / Muhammad Naim Abdu Salam

The number of stroke patients suffering from upper extremity hemiparesis increases from year to year. Manual repetitive therapy applied to stroke patients by trained therapists is limited by the number of therapists available. Many types of rehabilitation devices are invented to help patients recove...

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主要作者:	Abdu Salam, Muhammad Naim
格式:	Thesis
语言:	English
出版:	2020
主题:	Computer simulation Interactive computer systems
在线阅读:	https://ir.uitm.edu.my/id/eprint/32523/1/32523.pdf
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id	my-uitm-ir.32523
record_format	uketd_dc
spelling	my-uitm-ir.325232020-09-14T09:31:54Z Finger exoskeleton for early acute stroke rehabilitation: control design and performance analysis / Muhammad Naim Abdu Salam 2020-03 Abdu Salam, Muhammad Naim Computer simulation Interactive computer systems The number of stroke patients suffering from upper extremity hemiparesis increases from year to year. Manual repetitive therapy applied to stroke patients by trained therapists is limited by the number of therapists available. Many types of rehabilitation devices are invented to help patients recover their hand functions including exoskeleton devices. These devices can deliver high intensity therapy for a longer period of time. Every exoskeleton rehabilitation device is made up of three components: exoskeleton mechanism, actuator and control system. Control system is central to rehabilitation devices. The accurate control algorithm implementation is very crucial for the rehabilitation aspect. The performance of the control algorithm for rehabilitation must be investigated to assess the efficiency of the devices for rehabilitation. This research aimed to apply different Proportional Integral and Derivative (PID) controller configurations for position control of the index finger exoskeleton in rehabilitation. The second objective was to assess the performance of position control for index finger in rehabilitation. The control algorithm utilized was PID control algorithm. The parameter controlled was position of index finger measured through Metacarpophalangeal (MCP) joint angle. PID parameters were tuned using heuristic method and Ziegler Nichols’ closed loop method. In order to assess the performance of the control system, desired or reference values were used. The actual data from position control were compared to reference values to investigate the performance. This study suggested that the PID controller managed to control the parameter according to the set point better than Proportional (P), Proportional and Integral (PI), and Proportional and Derivative (PD) controllers. The device could be manipulated to move to any position within the range of exoskeleton motion accurately. The results of the study also suggested that the performance of the control system for rehabilitation was very good as the error (difference between actual value and reference value) was less than 10%. Hence, the objectives of the research project were successfully achieved. 2020-03 Thesis https://ir.uitm.edu.my/id/eprint/32523/ https://ir.uitm.edu.my/id/eprint/32523/1/32523.pdf text en public masters Universiti Teknologi MARA Faculty of Mechanical Engineering Ab Patar, Mohd Nor Azmi (Dr.)
institution	Universiti Teknologi MARA
collection	UiTM Institutional Repository
language	English
advisor	Ab Patar, Mohd Nor Azmi (Dr.)
topic	Computer simulation Interactive computer systems
spellingShingle	Computer simulation Interactive computer systems Abdu Salam, Muhammad Naim Finger exoskeleton for early acute stroke rehabilitation: control design and performance analysis / Muhammad Naim Abdu Salam
description	The number of stroke patients suffering from upper extremity hemiparesis increases from year to year. Manual repetitive therapy applied to stroke patients by trained therapists is limited by the number of therapists available. Many types of rehabilitation devices are invented to help patients recover their hand functions including exoskeleton devices. These devices can deliver high intensity therapy for a longer period of time. Every exoskeleton rehabilitation device is made up of three components: exoskeleton mechanism, actuator and control system. Control system is central to rehabilitation devices. The accurate control algorithm implementation is very crucial for the rehabilitation aspect. The performance of the control algorithm for rehabilitation must be investigated to assess the efficiency of the devices for rehabilitation. This research aimed to apply different Proportional Integral and Derivative (PID) controller configurations for position control of the index finger exoskeleton in rehabilitation. The second objective was to assess the performance of position control for index finger in rehabilitation. The control algorithm utilized was PID control algorithm. The parameter controlled was position of index finger measured through Metacarpophalangeal (MCP) joint angle. PID parameters were tuned using heuristic method and Ziegler Nichols’ closed loop method. In order to assess the performance of the control system, desired or reference values were used. The actual data from position control were compared to reference values to investigate the performance. This study suggested that the PID controller managed to control the parameter according to the set point better than Proportional (P), Proportional and Integral (PI), and Proportional and Derivative (PD) controllers. The device could be manipulated to move to any position within the range of exoskeleton motion accurately. The results of the study also suggested that the performance of the control system for rehabilitation was very good as the error (difference between actual value and reference value) was less than 10%. Hence, the objectives of the research project were successfully achieved.
format	Thesis
qualification_level	Master's degree
author	Abdu Salam, Muhammad Naim
author_facet	Abdu Salam, Muhammad Naim
author_sort	Abdu Salam, Muhammad Naim
title	Finger exoskeleton for early acute stroke rehabilitation: control design and performance analysis / Muhammad Naim Abdu Salam
title_short	Finger exoskeleton for early acute stroke rehabilitation: control design and performance analysis / Muhammad Naim Abdu Salam
title_full	Finger exoskeleton for early acute stroke rehabilitation: control design and performance analysis / Muhammad Naim Abdu Salam
title_fullStr	Finger exoskeleton for early acute stroke rehabilitation: control design and performance analysis / Muhammad Naim Abdu Salam
title_full_unstemmed	Finger exoskeleton for early acute stroke rehabilitation: control design and performance analysis / Muhammad Naim Abdu Salam
title_sort	finger exoskeleton for early acute stroke rehabilitation: control design and performance analysis / muhammad naim abdu salam
granting_institution	Universiti Teknologi MARA
granting_department	Faculty of Mechanical Engineering
publishDate	2020
url	https://ir.uitm.edu.my/id/eprint/32523/1/32523.pdf
_version_	1783734170292322304

Finger exoskeleton for early acute stroke rehabilitation: control design and performance analysis / Muhammad Naim Abdu Salam

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