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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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Main Author: Abdu Salam, Muhammad Naim
Format: Thesis
Language:English
Published: 2020
Subjects:
Computer simulation
Interactive computer systems
Online Access:https://ir.uitm.edu.my/id/eprint/32523/1/32523.pdf
https://ir.uitm.edu.my/id/eprint/32523/
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id my.uitm.ir.32523
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spelling my.uitm.ir.325232024-09-11T01:20:48Z https://ir.uitm.edu.my/id/eprint/32523/ Finger exoskeleton for early acute stroke rehabilitation: control design and performance analysis / Muhammad Naim Abdu Salam 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 NonPeerReviewed text en https://ir.uitm.edu.my/id/eprint/32523/1/32523.pdf Finger exoskeleton for early acute stroke rehabilitation: control design and performance analysis / Muhammad Naim Abdu Salam. (2020) Masters thesis, thesis, Universiti Teknologi MARA. <http://terminalib.uitm.edu.my/32523.pdf>
institution Universiti Teknologi Mara
building Tun Abdul Razak Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Mara
content_source UiTM Institutional Repository
url_provider http://ir.uitm.edu.my/
language English
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
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
publishDate 2020
url https://ir.uitm.edu.my/id/eprint/32523/1/32523.pdf
https://ir.uitm.edu.my/id/eprint/32523/
_version_ 1811596655757099008
score 13.211869

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