scholarly journals Investigation of 2DOF PID Controller for Physio-Therapeutic Application for Elbow Rehabilitation

2021 ◽  
Vol 11 (18) ◽  
pp. 8617
Author(s):  
Rupal Roy ◽  
Maidul Islam ◽  
MM Rashid ◽  
Shawgi Mounis ◽  
Md Manjurul Ahsan ◽  
...  
Keyword(s):  
Upper Limb ◽  
Pid Controller ◽  
Tracking Error ◽  
Elbow Flexion ◽  
System Stability ◽  
Upper Limb Rehabilitation ◽  
Fast Transient Response ◽  
Sinusoidal Current ◽  
Overshoot And Undershoot ◽  
Limb Rehabilitation

The aim of this work is to evaluate the output of a two-degree of freedom (DOF) proportional integral derivative (PID) controller for controlling elbow flexion and extension on an upper limb rehabilitation robot of an existing model. Since the usage of upper limb rehabilitation is increasing dramatically because of human impairment, 2DOF has been proposed in this work as a suitable controller. The 2DOF PID controller offers set-point-weight features and, hence, is fast in removing disturbance from the system and ensuring system stability. Importantly, as the system parameters are unknown in this work, the black-box model approach has been taken into consideration, using the MATLAB System identification toolbox to estimate a model. The best-fitted estimated model is then coupled with the proposed controller in the MATLAB/Simulink environment that, upon successful simulation works, leads, finally, to the hardware implementation. Three different amplitudes of sinusoidal current signals, such as 0.3 amps, 0.2 amps, and 0.1 amps, are applied for hardware measurements. Considering patients’ physical conditions. In this work, the 2DOF controller offers a fast transient response, settling time, negligible tracking error and 0% overshoot and undershoot.

Modeling and Simulating a Robotic System for Upper-Limb Rehabilitation

2014 ◽  
Vol 902 ◽  
pp. 286-293
Author(s):  
A. Miranda Cid ◽  
H.Y. Hernández Acosta ◽  
A.T. Velázquez Sánchez ◽  
G.M. Urriolagoitia Calderón ◽  
A.A. Castro Vicente ◽  
...  
Keyword(s):  
Upper Limb ◽  
Pid Controller ◽  
Complete Characterization ◽  
Robotic System ◽  
Controlled Environment ◽  
Upper Limb Rehabilitation ◽  
Non Linear System ◽  
Limb Rehabilitation ◽  
Rehabilitation Robotic

In this paper, we present a virtual prototype for a Upper-Limb Rehabilitation Robotic System is review, where the conflict of stability for a non-linear system its implemented, using as a model a double inverted pendulum and its response in Matlab - SimMechanics. It demonstrates the ability and ease of using new computerized tools where simulation and modeling of a system becomes an important utility to understand control concepts and carry them out in a controlled environment, it also can be of great help ensuring the complete characterization of a system, in which it can also result in experimental results. A soft trajectory follower PID controller is implemented to provide individual rehabilitation movements in a 2 DoF robotic system.

scholarly journals Design and evaluation of a novel upper limb rehabilitation robot with space training based on an end effector

2021 ◽  
Vol 12 (1) ◽  
pp. 639-648
Author(s):  
Qiaoling Meng ◽  
Zongqi Jiao ◽  
Hongliu Yu ◽  
Weisheng Zhang
Keyword(s):  
Upper Limb ◽  
Degrees Of Freedom ◽  
Elbow Flexion ◽  
Rehabilitation Robot ◽  
End Effector ◽  
Upper Limb Rehabilitation ◽  
Flexion Extension ◽  
Robot Configuration ◽  
Limb Rehabilitation ◽  
Equivalent Mechanism

Abstract. The target of this paper is to design a lightweight upper limb rehabilitation robot with space training based on end-effector configuration and to evaluate the performance of the proposed mechanism. In order to implement this purpose, an equivalent mechanism to the human being upper limb is proposed before the design. Then, a 4 degrees of freedom (DOF) end-effector-based upper limb rehabilitation robot configuration is designed to help stroke patients perform space rehabilitation training of the shoulder flexion/extension and adduction/abduction and elbow flexion/extension. Thereafter, its kinematical model is established together with the proposed equivalent upper limb mechanism. The Monte Carlo method is employed to establish their workspace. The results show that the overlap of the workspace between the proposed mechanism and the equivalent mechanism is 96.61 %. In addition, this paper also constructs a human–machine closed-chain mechanism to analyze the flexibility of the mechanism. According to the relative manipulability and manipulability ellipsoid, the highly flexible area of the mechanism accounts for 67.6 %, and the mechanism is far away from the singularity on the drinking trajectory. In the end, the single-joint training experiments and a drinking water training trajectory planning experiment are developed and the prototype is manufactured to verify it.

scholarly journals Optimized Proportional-Integral-Derivative Controller for Upper Limb Rehabilitation Robot

Electronics ◽  
2019 ◽  
Vol 8 (8) ◽  
pp. 826 ◽  
Author(s):  
M. Kamran Joyo ◽  
Yarooq Raza ◽  
S. Faiz Ahmed ◽  
M. M. Billah ◽  
Kushsairy Kadir ◽  
...  
Keyword(s):  
Upper Limb ◽  
Pid Controller ◽  
Degrees Of Freedom ◽  
Optimization Technique ◽  
Pid Controllers ◽  
Proportional Integral Derivative ◽  
Effective Response ◽  
Upper Limb Rehabilitation ◽  
Proportional Integral ◽  
Limb Rehabilitation

This paper proposes a nature inspired, meta-heuristic optimization technique to tune a proportional-integral-derivative (PID) controller for a robotic arm exoskeleton RAX-1. The RAX-1 is a two-degrees-of-freedom (2-DOFs) upper limb rehabilitation robotic system comprising two joints to facilitate shoulder joint movements. The conventional tuning of PID controllers using Ziegler-Nichols produces large overshoots which is not desirable for rehabilitation applications. To address this issue, nature inspired algorithms have recently been proposed to improve the performance of PID controllers. In this study, a 2-DOF PID control system is optimized offline using particle swarm optimization (PSO) and artificial bee colony (ABC). To validate the effectiveness of the proposed ABC-PID method, several simulations were carried out comparing the ABC-PID controller with the PSO-PID and a classical PID controller tuned using the Zeigler-Nichols method. Various investigations, such as determining system performance with respect to maximum overshoot, rise and settling time and using maximum sensitivity function under disturbance, were carried out. The results of the investigations show that the ABC-PID is more robust and outperforms other tuning techniques, and demonstrate the effective response of the proposed technique for a robotic manipulator. Furthermore, the ABC-PID controller is implemented on the hardware setup of RAX-1 and the response during exercise showed minute overshoot with lower rise and settling times compared to PSO and Zeigler-Nichols-based controllers.

Upper-limb Rehabilitation Robot Based on Motor Imagery EEG

ROBOT ◽  
2011 ◽  
Vol 33 (3) ◽  
pp. 307-313 ◽  
Author(s):  
Baoguo XU ◽  
Si PENG ◽  
Aiguo SONG
Keyword(s):  
Motor Imagery ◽  
Upper Limb ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation

Upper-limb Rehabilitation Robot Motion Control Based on Dynamic Interpolation

ROBOT ◽  
2012 ◽  
Vol 34 (5) ◽  
pp. 539 ◽  
Author(s):  
Lizheng PAN ◽  
Aiguo SONG ◽  
Guozheng XU ◽  
Huijun LI ◽  
Baoguo XU
Keyword(s):  
Motion Control ◽  
Upper Limb ◽  
Robot Motion ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation

scholarly journals Artificial Intelligence-Based Wearable Robotic Exoskeletons for Upper Limb Rehabilitation: A Review

Sensors ◽  
2021 ◽  
Vol 21 (6) ◽  
pp. 2146
Author(s):  
Manuel Andrés Vélez-Guerrero ◽  
Mauro Callejas-Cuervo ◽  
Stefano Mazzoleni
Keyword(s):  
Artificial Intelligence ◽  
Upper Limb ◽  
Main Trend ◽  
Motor Rehabilitation ◽  
Rehabilitation Process ◽  
Upper Limb Rehabilitation ◽  
Multiple Sensors ◽  
Meta Analyses ◽  
Limb Rehabilitation ◽  
And Control

Processing and control systems based on artificial intelligence (AI) have progressively improved mobile robotic exoskeletons used in upper-limb motor rehabilitation. This systematic review presents the advances and trends of those technologies. A literature search was performed in Scopus, IEEE Xplore, Web of Science, and PubMed using the PRISMA (Preferred Reporting Items for Systematic Reviews and Meta-Analyses) methodology with three main inclusion criteria: (a) motor or neuromotor rehabilitation for upper limbs, (b) mobile robotic exoskeletons, and (c) AI. The period under investigation spanned from 2016 to 2020, resulting in 30 articles that met the criteria. The literature showed the use of artificial neural networks (40%), adaptive algorithms (20%), and other mixed AI techniques (40%). Additionally, it was found that in only 16% of the articles, developments focused on neuromotor rehabilitation. The main trend in the research is the development of wearable robotic exoskeletons (53%) and the fusion of data collected from multiple sensors that enrich the training of intelligent algorithms. There is a latent need to develop more reliable systems through clinical validation and improvement of technical characteristics, such as weight/dimensions of devices, in order to have positive impacts on the rehabilitation process and improve the interactions among patients, teams of health professionals, and technology.

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