Force control for one degree of freedom haptic device using PID Controller

Haptics has been used as an additional feedback to increase human experience to the environment over years and its application has been expanded into education, manufacturing and medical. The most developed haptic devices are for rehabilitation purpose. The rehabilitation process usually depends on...

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Main Author:	Mohamad Husni, Nur Amirah
Format:	Thesis
Language:	English English English
Published:	2019
Subjects:	TJ212-225 Control engineering systems Automatic machinery (General)
Online Access:	http://eprints.uthm.edu.my/621/1/24p%20NUR%20AMIRAH%20MOHAMAD%20HUSNI.pdf http://eprints.uthm.edu.my/621/2/NUR%20AMIRAH%20MOHAMAD%20HUSNI%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/621/3/NUR%20AMIRAH%20MOHAMAD%20HUSNI%20WATERMARK.pdf
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id	my-uthm-ep.621
record_format	uketd_dc
spelling	my-uthm-ep.6212021-08-11T04:55:46Z Force control for one degree of freedom haptic device using PID Controller 2019-01 Mohamad Husni, Nur Amirah TJ212-225 Control engineering systems. Automatic machinery (General) Haptics has been used as an additional feedback to increase human experience to the environment over years and its application has been expanded into education, manufacturing and medical. The most developed haptic devices are for rehabilitation purpose. The rehabilitation process usually depends on the physiotherapist. But, it requires repetitive movements for long-term rehabilitation, thus haptic devices are needed. Most of the rehabilitation devices are included with haptic feedback to enhance therapy exercise during the rehabilitation process. However, the devices come with multiple degrees of freedom (DOF), complex design and costly. Rehabilitation for hand movement such as grasping, squeezing, holding and pinching usually does not need an expensive and complex device. Therefore, the goal of this project is to make an enhancement to One DOF Haptic Device for grasping rehabilitation exercise. It is improved to perform a force control mechanism with few types of conventional controller which are Proportional (P) controller, Proportional-Integral (PI) controller, Proportional-Derivative (PD) controller and Proportional-Integral-Derivative (PID) controller. The performance of the haptic device is tested with different conventional controller to obtain the best proposed controller based on the lowest value of the Mean Square Error (MSE). The results show that PID Controller is the most suitable for the proposed device with Proportional gain (Kp), Integral gain (Ki), Derivative gain (Kd) are 1.3, 0.01 and 0.2 respectively. The force control mechanism can imitate the training motion of grasping movement for the patient. 2019-01 Thesis http://eprints.uthm.edu.my/621/ http://eprints.uthm.edu.my/621/1/24p%20NUR%20AMIRAH%20MOHAMAD%20HUSNI.pdf text en public http://eprints.uthm.edu.my/621/2/NUR%20AMIRAH%20MOHAMAD%20HUSNI%20COPYRIGHT%20DECLARATION.pdf text en staffonly http://eprints.uthm.edu.my/621/3/NUR%20AMIRAH%20MOHAMAD%20HUSNI%20WATERMARK.pdf text en validuser mphil masters Universiti Tun Hussein Onn Malaysia Fakulti Kejuruteraan Elektrik dan Elektronik
institution	Universiti Tun Hussein Onn Malaysia
collection	UTHM Institutional Repository
language	English English English
topic	TJ212-225 Control engineering systems Automatic machinery (General)
spellingShingle	TJ212-225 Control engineering systems Automatic machinery (General) Mohamad Husni, Nur Amirah Force control for one degree of freedom haptic device using PID Controller
description	Haptics has been used as an additional feedback to increase human experience to the environment over years and its application has been expanded into education, manufacturing and medical. The most developed haptic devices are for rehabilitation purpose. The rehabilitation process usually depends on the physiotherapist. But, it requires repetitive movements for long-term rehabilitation, thus haptic devices are needed. Most of the rehabilitation devices are included with haptic feedback to enhance therapy exercise during the rehabilitation process. However, the devices come with multiple degrees of freedom (DOF), complex design and costly. Rehabilitation for hand movement such as grasping, squeezing, holding and pinching usually does not need an expensive and complex device. Therefore, the goal of this project is to make an enhancement to One DOF Haptic Device for grasping rehabilitation exercise. It is improved to perform a force control mechanism with few types of conventional controller which are Proportional (P) controller, Proportional-Integral (PI) controller, Proportional-Derivative (PD) controller and Proportional-Integral-Derivative (PID) controller. The performance of the haptic device is tested with different conventional controller to obtain the best proposed controller based on the lowest value of the Mean Square Error (MSE). The results show that PID Controller is the most suitable for the proposed device with Proportional gain (Kp), Integral gain (Ki), Derivative gain (Kd) are 1.3, 0.01 and 0.2 respectively. The force control mechanism can imitate the training motion of grasping movement for the patient.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Mohamad Husni, Nur Amirah
author_facet	Mohamad Husni, Nur Amirah
author_sort	Mohamad Husni, Nur Amirah
title	Force control for one degree of freedom haptic device using PID Controller
title_short	Force control for one degree of freedom haptic device using PID Controller
title_full	Force control for one degree of freedom haptic device using PID Controller
title_fullStr	Force control for one degree of freedom haptic device using PID Controller
title_full_unstemmed	Force control for one degree of freedom haptic device using PID Controller
title_sort	force control for one degree of freedom haptic device using pid controller
granting_institution	Universiti Tun Hussein Onn Malaysia
granting_department	Fakulti Kejuruteraan Elektrik dan Elektronik
publishDate	2019
url	http://eprints.uthm.edu.my/621/1/24p%20NUR%20AMIRAH%20MOHAMAD%20HUSNI.pdf http://eprints.uthm.edu.my/621/2/NUR%20AMIRAH%20MOHAMAD%20HUSNI%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/621/3/NUR%20AMIRAH%20MOHAMAD%20HUSNI%20WATERMARK.pdf
_version_	1747830648069947392

Force control for one degree of freedom haptic device using PID Controller

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