Design and implementation of rehabilitation robot for human arm movements
Joint Authors
Hasan, Muhammad Y.
Karam, Ziyad A.
Source
Iraqi Journal of Computer, Communications and Control Engineering
Issue
Vol. 15, Issue 2 (30 Jun. 2015), pp.24-33, 10 p.
Publisher
Publication Date
2015-06-30
Country of Publication
Iraq
No. of Pages
10
Main Subjects
Medicine
Information Technology and Computer Science
Topics
Abstract EN
Physical disabilities such as full or partial loss of function in the shoulder and elbow are a common impairment in the elderly and a secondary effect due to strokes, trauma, sports and injuries.
Rehabilitation programs are the main method to promote functional recovery in these subjects.
This work focuses on designing and implementing a 3 DoF's non-wearable, light weight rehabilitation robot for rehabilitee the human arm that can be used in hospitals or homes.
This robot structure eliminates arm singularity problem of the end effecter with respect to the robot base by adding an offset link.
The design includes an adjustable mechanism standing on a seat for robot base and links to be adaptable for all body sizes and to align for all human arm lengths.
Intelligent PD-like Fuzzy Logic position controllers (FLCs) are designed for joints of the 3 DoF's robot to follow the desired medical trajectories during limited time with minimum overshoot and minimum oscillations in position response.
These controllers are implemented using MATLAB Simulink.
The controllers control the rehabilitation robot using Data Acquisition Card, (Advantech PCI-1712) that generates and reads the required digital and analog signals for robot.
The experimental results are acceptable in terms of the practical application.
American Psychological Association (APA)
Hasan, Muhammad Y.& Karam, Ziyad A.. 2015. Design and implementation of rehabilitation robot for human arm movements. Iraqi Journal of Computer, Communications and Control Engineering،Vol. 15, no. 2, pp.24-33.
https://search.emarefa.net/detail/BIM-654202
Modern Language Association (MLA)
Hasan, Muhammad Y.& Karam, Ziyad A.. Design and implementation of rehabilitation robot for human arm movements. Iraqi Journal of Computer, Communications and Control Engineering Vol. 15, no. 2 (Jun. 2015), pp.24-33.
https://search.emarefa.net/detail/BIM-654202
American Medical Association (AMA)
Hasan, Muhammad Y.& Karam, Ziyad A.. Design and implementation of rehabilitation robot for human arm movements. Iraqi Journal of Computer, Communications and Control Engineering. 2015. Vol. 15, no. 2, pp.24-33.
https://search.emarefa.net/detail/BIM-654202
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 32-33
Record ID
BIM-654202