DEVELOPMENT OF REHABILITATION ROBOT FOR LOWER ARM STRENGTH IMPROVEMENT THROUGH FLEXION MOVEMENT

• Main Author: Masitoh
• Format: Final Project
• Language: Indonesia
• Subjects: Teknik (Rekayasa, enjinering dan kegiatan berkaitan)
• Online Access: https://digilib.itb.ac.id/gdl/view/45014
• Institution: Institut Teknologi Bandung

The rehabilitation process is already available and being conducted on many hospitals in Indonesia under the treatment of physical rehabilitation doctor and physiotherapist. Unfortunately, the patient’s capability is not measured quantitatively. The valuation of patient’s capability is only based on the subjectivity of the doctor who handle the patient directly. This problem is caused by the lack of assistive device usage such as rehabilitation robot due to the highpriced itself. In order to solve that problem, this study was focused on the development of rehabilitation robot for strength enhancement of lower arm through flexion movement. The rehabilitation robot could detect patient’s torque capability with spiral spring as the load source. Robot was equipped with motor as the actuator and proportional integral (PI) controller as the control system. The robot work mechanism was started with the robot arm was being moved by patient without motor assistance until they reach maximum angle of their capability. That angle would became a setpoint for microcontroller. When the drop of robot arm angle was detected, which indicates incapability of the patients, motor would became active and pushed robot arm until it reaches setpoint. The control system ensured the motor to move robot arm until it reaches the setpoint and secured position stability on the set point. PI controller parameters in this system were ???????? = 6.24 and????????= 8.94 which gained by root locus method. The controlled system generated a respon that reach setpoint with settling time around 3 seconds, produced maximum overshoot approximately 3.33%, and had zero steady state error. During the steady state, motor current was measured by motor driver in order to determine patient’s torque when robot arm reached set point. Motor current in steady state and patient’s torque corelated each other and had linear fuction as in ???? ???? 0.126 ???? ???? 0,0004 which came from the calibration of flexiforce sensor.