Wearable upper limb motion assist robot for eating activity

Kashtwari, Uzair; Azlan, Norsinnira Zainul; Shahdad, Ifrah

doi:10.23917/arstech.v1i1.28

Cited by 2 publications

(3 citation statements)

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“…1, has been built for controller development and testing. The prototype is an improved version of the previously wearable motion assist robot for eating, developed in the WISE Lab, IIUM [26]. It has 2 degrees of freedom (DOF) and is made of 3 links, namely the arm, elbow, and wrist linkages, focusing on the 2 important upper extremity movements in eating: (1) elbow flexion/extension and (2) wrist flexion/extension motion.…”

Section: Upper Limb Rehabilitation Robot Mechanism and Operational Sementioning

confidence: 99%

Assist as Needed Control Strategy for Upper Limb Rehabilitation Robot in Eating Activity

Azlan

Lukman²

2021

IIUMEJ

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The slacking behaviour or lack of participation from impaired patients during robotic rehabilitation therapy is one of the factors that slow down their recovery. The implementation of Assist As Needed (AAN) control law in the robotic assisted rehabilitation treatment may alleviate this problem and encourage the patients to be actively involved in the rehabilitation exercises. This paper presents a new Assist As Needed control strategy for an upper limb rehabilitation robot in assisting subjects with various levels of capabilities to regain their original upper limb’s functionality in realizing basic motions in eating activity. The controller consists of Proportional, Integral, Derivative (PID) controller in the feedback loop, with an adjustable gain K that varies according to the user’s level of capability. A Force Sensing Resistor (FSR) is used to identify the user’s upper extremity capability level. The controller regulates the necessary amount of assistance provided by the robot based on the information obtained from the sensor. The automatic adjustment of the robot’s assistance to the subjects leads them to put in their own effort in accomplishing the desired movements. The proposed control strategy is simple, easy to program, and mathematically less complicated. A prototype of the wearable upper limb rehabilitation robot has been built and a Graphical User Interface (GUI) has been developed using MATLAB software to facilitate the rehabilitation process and for progress monitoring. The simulation and experimental results have proven that the proposed control strategy is successful in regulating the necessary amount of robot assistance according to the patients’ level of capability. The proposed controller has effectively driven the upper limb rehabilitation robot to achieve the desired trajectory with zero steady state error, percentage overshoot less than 8% and settling time below 6 seconds, whilst providing the correct amount of robotic assistance in accordance to the subjects’ capability level. ABSTRAK: Reaksi kurang respon dari pesakit kurang keupayaan semasa terapi pemulihan robotik adalah satu faktor melambatkan kadar pemulihan. Pelaksanaan teknik kawalan Bantu Apabila Diperlukan (AAN) dalam rawatan pemulihan dengan bantuan robot dapat membantu dan mendorong pesakit terlibat secara aktif dalam latihan pemulihan. Artikel ini membentangkan strategi kawalan baru, iaitu Bantu Apabila Diperlukan oleh robot pemulihan bagi anggota atas pesakit yang mempunyai pelbagai tahap kemampuan, dalam mengembalikan fungsi asas gerakan tangan seperti aktiviti makan. Teknik kawalan terdiri daripada kawalan Berkadar, Integral, Terbitan (PID) dalam lingkaran tindak balas, dengan pemboleh ubah K mengikut tahap kemampuan pesakit. Alat pengukur Resistan Daya Rasa (FSR) digunakan bagi mengenal pasti tahap kemampuan maksima pesakit dalam menggerakkan tangan. Berdasarkan maklumat yang diperoleh daripada sensor, teknik kawalan akan menghantar maklumat kepada robot bagi membantu pesakit. Bantuan automatik yang dibekalkan robot kepada pesakit akan mendorong pesakit berusaha melakukan gerakan yang diperlukan. Strategi kawalan yang dicadangkan ini adalah ringkas, mudah diprogramkan dan kurang rumit dari segi matematik. Sebuah prototaip robot pemulihan anggota tangan telah dibina dan sebuah platform grafik bagi pengguna (Antara Muka Grafik Pengguna, GUI) telah dibangunkan menggunakan perisian MATLAB bagi memudahkan proses pemulihan dan pemantauan kemajuan pesakit. Hasil simulasi dan eksperimen membuktikan bahawa strategi cadangan kawalan ini berjaya mengatur jumlah bantuan daripada robot bersesuaian dengan tahap kemampuan pesakit. Teknik kawalan yang dicadangkan telah berjaya menggerakkan robot pemulihan tangan bagi mencapai lintasan gerakan yang diinginkan dengan ralat sifar pada keadaan stabil, peratusan ayunan berlebihan kurang daripada 8%, masa penyelesaian bawah 6 saat dan pada masa sama, memberikan maklumat bantuan robot yang tepat, bersesuaian dengan tahap kemampuan pesakit.

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Section: Upper Limb Rehabilitation Robot Mechanism and Operational Sementioning

confidence: 99%

Assist as Needed Control Strategy for Upper Limb Rehabilitation Robot in Eating Activity

Azlan

Lukman²

2021

IIUMEJ

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“…Where 𝑚 1 , 𝑙 1 , and 𝜃 ̇1 are the linkage's mass, length from the origin to its center of gravity, and angular velocity, respectively. Then the potential energy, p of the system can be represented as [32] 𝑝 = 𝑚 1 𝑔 𝑙 1 2 sin 𝜃 1 (2) where 𝑔 is the gravitational acceleration. Once the kinetic and potential energy is obtained, using the Lagrange equation for the link, L can be described as [32]…”

Section: Mathematical Model For the Wrist Motionmentioning

confidence: 99%

“…Many of them are left with disabilities that make basic daily activities to be very difficult [1]. As a result, they need to depend a lot on the caregiver [2]. Rehabilitation exercises can help the patients to recover and regain their limbs functionality [3] [4].…”

Section: Introductionmentioning

confidence: 99%

Soft Pneumatic Exoskeleton for Wrist and Thumb Rehabilitation

Lone

Azlan

Kamarudzaman³

2021

IJRCS

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A huge population of the world is suffering from various kinds of disabilities that make basic daily activities to be challenging. The use of robotics for limb rehabilitation can assist patients to recover faster and reduce therapist to patient ratio. However, the main problems with current rehabilitation robotics are the devices are bulky, complicated, and expensive. The utilization of pneumatic artificial muscles in a rehabilitation system can reduce the design complexity, thus, making the whole system light and compact. This paper presents the development of a new 2 degree of freedom (DOF) wrist motion and thumb motion exoskeleton. A light-weight 3D printed Acrylonitrile Butadiene Styrene (ABS) material is used to fabricate the exoskeleton. The system is controlled by an Arduino Uno microcontroller board that activates the relay to open and close the solenoid valve to actuate the wrist. It allows the air to flow into and out of the pneumatic artificial muscles (PAM) based on the feedback from the sliding potentiometer. The mathematical model of the exoskeleton has been formulated using the Lagrange formula. A Proportional Integral Derivative (PID) controller has been implemented to drive the wrist extension-flexion motion in achieving the desired set-points during the exercise. The results show that the exoskeleton has successfully realized the wrist and thumb movements as desired. The wrist joint tracked the desired position with a maximum steady-state error of 10% for 101.45ᵒ the set point.

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Wearable upper limb motion assist robot for eating activity

Cited by 2 publications

References 0 publications

Assist as Needed Control Strategy for Upper Limb Rehabilitation Robot in Eating Activity

Assist as Needed Control Strategy for Upper Limb Rehabilitation Robot in Eating Activity

Soft Pneumatic Exoskeleton for Wrist and Thumb Rehabilitation

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