Continuous Passive Motion Machine for Elbow Rehabilitation

Al-Almoodi, Hamzah Hussein Mohammed; Azlan, Norsinnira Zainul; Shahdad, Ifrah; Kamarudzaman, Norhaslinda

doi:10.31763/ijrcs.v1i3.446

Cited by 5 publications

(4 citation statements)

References 29 publications

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“…The dynamic equations that model the robot arm are obtained by applying Lagrange's in (3) [6], [17], [18], [19], [20], [21], [22], [23], [24], [25].…”

Section: Robot's Dynamic Modelmentioning

confidence: 99%

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Active Disturbance Rejection Control for Robot Manipulator

Martínez-Ochoa

Benítez-González

Cepero-Díaz³

et al. 2022

Journal of Robotics and Control

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Active Disturbance Rejection Control (ADRC) is a control methodology used in chemical processes, aircraft, motors, and other systems. This paper compares the results of an ADRC controller to a Proportional Integral Derivative controller (PID), applied to two degrees of freedom robots. A Linear Extended State Observer (LESO) is used to reconstruct the state variables and unknown parameters needed to control the position of each link. The ADRC can achieve the tracking position and estimate the velocity of each link. The results of the simulation program are shown.

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“…The dynamic equations that model the robot arm are obtained by applying Lagrange's in (3) [6], [17], [18], [19], [20], [21], [22], [23], [24], [25].…”

Section: Robot's Dynamic Modelmentioning

confidence: 99%

“…Different joint angles will be tested, and a circular trajectory will be tested. The root means square error (𝐸 𝑅𝑀𝑆 ) of the angles of the links will be determined by (25) [11], [33], [48], [49], [50] as…”

Section: B Trajectory Planningmentioning

confidence: 99%

Active Disturbance Rejection Control for Robot Manipulator

Martínez-Ochoa

Benítez-González

Cepero-Díaz³

et al. 2022

Journal of Robotics and Control

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“…Therapy for joints can be replaced by robots, as a substitute for the work of the therapist [7]. CPM machine is a device that has a rehabilitation method for damaged joints [8].…”

Section: Introductionmentioning

confidence: 99%

Rotary speed control on Continuous Passive Motion (CPM) Therapy Machine Device with PI Control

Noviyanto,

Aji Nugraha,

Anurogo

2024

JPL

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Continuous Passive Motion (CPM) Machine is a therapeutic device that is used to assist the process of therapy and recovery of a patient after having joint surgeryor injury of the ankle. In this research, a CPM machine will be developed for ankle joint therapy. The rotation speed of the CPM machine will be controlled by a DC motor which is used to drive the ankle joint therapy device.Speed control for DC motor is used on a therapeutic device (CPM machine) to determine the level of the therapeutic process; therefore this device can be adjusted to the needs of the patient who will use the therapeutic device. Speed control of the DC motor that will be carried out in this research is using Proportional Integral (PI) control. With the PI control, the result of output will always be compared with the set point value. The result of this comparison will provide an error value, which later the error value will be processed by PI control.The PI values used in this research are Kp 5 and Ki 15.The test results of the CPM movement speed show that the difference between the set point and the resulting movement is 1 RPM. Where the speed tested on this tool is 3 RPM and 5 RPM. So, the output of this device will be as expected. In brief of this research, a therapeutic device that can be adjusted the rotational speed as expected.

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“…Simplicity, durability, and near-optimal performance are the reasons why PID control is so popular in the industry [58]. It is simple, functionally easy to understand, and practical [59,60]. Since it only requires simple calculations, PID will consume less power and memory, making it the most suitable controller for medical telepresence robots.…”

mentioning

confidence: 99%

Using a Combination of PID Control and Kalman Filter to Design of IoT-based Telepresence Self-balancing Robots during COVID-19 Pandemic

et al. 2022

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COVID-19 is a very dangerous respiratory disease that can spread quickly through the air. Doctors, nurses, and medical personnel need protective clothing and are very careful in treating COVID-19 patients to avoid getting infected with the COVID-19 virus. Hence, a medical telepresence robot, which resembles a humanoid robot, is necessary to treat COVID-19 patients. The proposed self-balancing COVID-19 medical telepresence robot is a medical robot that handles COVID-19 patients, which resembles a stand-alone humanoid soccer robot with two wheels that can maneuver freely in hospital hallways. The proposed robot design has some control problems; it requires steady body positioning and is subjected to disturbance. A control method that functions to find the stability value such that the system response can reach the set-point is required to control the robot's stability and repel disturbances; this is known as disturbance rejection control. This study aimed to control the robot using a combination of Proportional-Integral-Derivative (PID) control and a Kalman filter. Mathematical equations were required to obtain a model of the robot's characteristics. The state-space model was derived from the self-balancing robot's mathematical equation. Since a PID control technique was used to keep the robot balanced, this state-space model was converted into a transfer function model. The second Ziegler-Nichols's rule oscillation method was used to tune the PID parameters. The values of the amplifier constants obtained were Kp=31.002, Ki=5.167, and Kd=125.992128. The robot was designed to be able to maintain its balance for more than one hour by using constant tuning, even when an external disturbance is applied to it. Doi: 10.28991/esj-2021-SP1-016 Full Text: PDF

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Continuous Passive Motion Machine for Elbow Rehabilitation

Cited by 5 publications

References 29 publications

Active Disturbance Rejection Control for Robot Manipulator

Active Disturbance Rejection Control for Robot Manipulator

Rotary speed control on Continuous Passive Motion (CPM) Therapy Machine Device with PI Control

Using a Combination of PID Control and Kalman Filter to Design of IoT-based Telepresence Self-balancing Robots during COVID-19 Pandemic

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