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Trajectory tracking analysis of planar end-effector upper limb rehabilitation device

Rehabilitation devices have become one of the more sought-after focus areas among researchers in the robotics field, where it could be used to assist patients in the process of stroke recovery. Therefore, the motivation of this thesis is to further investigate the planar end-effector upper limb reha...

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Main Authors: Lim, H. Y., Muhammad Aizzat, Zakaria
Format: Book Section
Language:English
English
Published: Springer Singapore 2018
Subjects:
TS Manufactures
Online Access:http://umpir.ump.edu.my/id/eprint/21709/1/book39%20Trajectory%20tracking%20analysis%20of%20planar%20end-effector%20upper%20limb%20rehabilitation%20device.pdf
http://umpir.ump.edu.my/id/eprint/21709/2/book39.1%20Trajectory%20tracking%20analysis%20of%20planar%20end-effector%20upper%20limb%20rehabilitation%20device.pdf
http://umpir.ump.edu.my/id/eprint/21709/
https://doi.org/10.1007/978-981-10-8788-2_18
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spelling my.ump.umpir.217092018-08-06T07:22:56Z http://umpir.ump.edu.my/id/eprint/21709/ Trajectory tracking analysis of planar end-effector upper limb rehabilitation device Lim, H. Y. Muhammad Aizzat, Zakaria TS Manufactures Rehabilitation devices have become one of the more sought-after focus areas among researchers in the robotics field, where it could be used to assist patients in the process of stroke recovery. Therefore, the motivation of this thesis is to further investigate the planar end-effector upper limb rehabilitation device as a viable solution for patients with movement disorders, instead of the more expensive alternative of exoskeleton robots. This paper illustrates the mathematical modelling and simulation of a planar end-effector rehabilitation device for the upper limb. The rehabilitation device is of two degrees of freedom, and is used in this research due to its cost effectiveness and practicality. The derivation of the forward and inverse kinematics of the robotic system is established by using the Denavit-Hartenberg algorithm, which is proceeded to be used in the trajectory tracking of the end-effector of the device, as well as the programming of the feedback control system to control the actuators used in the system. The results of the simulation suggest that the mathematical modelling of the system is able to predict the behaviour of the system, which is to be implemented in this robotic device for upper limb rehabilitation. Springer Singapore 2018-04-28 Book Section PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/21709/1/book39%20Trajectory%20tracking%20analysis%20of%20planar%20end-effector%20upper%20limb%20rehabilitation%20device.pdf pdf en http://umpir.ump.edu.my/id/eprint/21709/2/book39.1%20Trajectory%20tracking%20analysis%20of%20planar%20end-effector%20upper%20limb%20rehabilitation%20device.pdf Lim, H. Y. and Muhammad Aizzat, Zakaria (2018) Trajectory tracking analysis of planar end-effector upper limb rehabilitation device. In: Intelligent Manufacturing & Mechatronics: Proceedings of Symposium, 29 January 2018, Pekan, Pahang, Malaysia. Lecture Notes in Mechanical Engineering . Springer Singapore, Singapore, pp. 183-195. ISBN 9789811087875 https://doi.org/10.1007/978-981-10-8788-2_18 DOI: 10.1007/978-981-10-8788-2_18
institution Universiti Malaysia Pahang
building UMP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang
content_source UMP Institutional Repository
url_provider http://umpir.ump.edu.my/
language English
English
topic TS Manufactures
spellingShingle TS Manufactures
Lim, H. Y.
Muhammad Aizzat, Zakaria
Trajectory tracking analysis of planar end-effector upper limb rehabilitation device
description Rehabilitation devices have become one of the more sought-after focus areas among researchers in the robotics field, where it could be used to assist patients in the process of stroke recovery. Therefore, the motivation of this thesis is to further investigate the planar end-effector upper limb rehabilitation device as a viable solution for patients with movement disorders, instead of the more expensive alternative of exoskeleton robots. This paper illustrates the mathematical modelling and simulation of a planar end-effector rehabilitation device for the upper limb. The rehabilitation device is of two degrees of freedom, and is used in this research due to its cost effectiveness and practicality. The derivation of the forward and inverse kinematics of the robotic system is established by using the Denavit-Hartenberg algorithm, which is proceeded to be used in the trajectory tracking of the end-effector of the device, as well as the programming of the feedback control system to control the actuators used in the system. The results of the simulation suggest that the mathematical modelling of the system is able to predict the behaviour of the system, which is to be implemented in this robotic device for upper limb rehabilitation.
format Book Section
author Lim, H. Y.
Muhammad Aizzat, Zakaria
author_facet Lim, H. Y.
Muhammad Aizzat, Zakaria
author_sort Lim, H. Y.
title Trajectory tracking analysis of planar end-effector upper limb rehabilitation device
title_short Trajectory tracking analysis of planar end-effector upper limb rehabilitation device
title_full Trajectory tracking analysis of planar end-effector upper limb rehabilitation device
title_fullStr Trajectory tracking analysis of planar end-effector upper limb rehabilitation device
title_full_unstemmed Trajectory tracking analysis of planar end-effector upper limb rehabilitation device
title_sort trajectory tracking analysis of planar end-effector upper limb rehabilitation device
publisher Springer Singapore
publishDate 2018
url http://umpir.ump.edu.my/id/eprint/21709/1/book39%20Trajectory%20tracking%20analysis%20of%20planar%20end-effector%20upper%20limb%20rehabilitation%20device.pdf
http://umpir.ump.edu.my/id/eprint/21709/2/book39.1%20Trajectory%20tracking%20analysis%20of%20planar%20end-effector%20upper%20limb%20rehabilitation%20device.pdf
http://umpir.ump.edu.my/id/eprint/21709/
https://doi.org/10.1007/978-981-10-8788-2_18
_version_ 1643669194820026368
score 13.211869

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