Finger Exoskeleton for Early Acute Post Stroke Rehabilitation: Control Design and Performance Analysis
Biochemical engineering; Controllers; Electronic medical equipment; Exoskeleton (Robotics); Heuristic methods; Patient rehabilitation; Three term control systems; Algorithm implementation; Closed-loop method; Exoskeleton devices; Exoskeleton mechanism; Performance analysis; Post-stroke rehabilitatio...
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2023
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my.uniten.dspace-265492023-05-29T17:11:49Z Finger Exoskeleton for Early Acute Post Stroke Rehabilitation: Control Design and Performance Analysis Ab Patar M.N.A. Abdu Salam M.N. Hazim Jamaluddin M.A. Lee H. Hanafusa A. 54394011300 57223102073 57223114248 14034299900 6701483204 Biochemical engineering; Controllers; Electronic medical equipment; Exoskeleton (Robotics); Heuristic methods; Patient rehabilitation; Three term control systems; Algorithm implementation; Closed-loop method; Exoskeleton devices; Exoskeleton mechanism; Performance analysis; Post-stroke rehabilitation; Rehabilitation devices; World Health Organization; Position control According to World Health Organization, the number of stroke patients related to upper extremity hemiparesis increases yearly. Due to this, many types of rehabilitation devices have been invented to help these patients, especially to recover their hand functions. These include exoskeleton devices which aims to deliver high intensity therapy for a longer period. Every exoskeleton rehabilitation device is made up of three components; exoskeleton mechanism, actuator and control system. Control system is central to rehabilitation devices. The accurate control algorithm implementation is very crucial for effective rehabilitation. Therefore, the performance and of the control algorithm for any rehabilitation device must be investigated to assess its efficiency. This study aims to investigate the performance of position control based on a new control strategy system of an index finger exoskeleton namely FiCoPRS, by comparing the Heuristic and Ziegler Nicol method based on various controller configurations. The parameter controlled was position of index finger measured through MCP joint angle. PID parameters were tuned using heuristic method and Ziegler Nichols� closed loop method. In order to assess the performance of the control system, actual data from position control was compared to reference values. This study suggested that the PID controller managed to control the parameter according to the set point better than P, PI and PD controller. The device could be manipulated to move to any position within the range of exoskeleton motion accurately. The results of the study also suggested that the performance of the control system for rehabilitation was very good as the error was less than 10%. The current findings prove that the study is useful and has contributed significant knowledge in understanding better the control system of an index finger exoskeleton. � 2021, Springer Nature Switzerland AG. Final 2023-05-29T09:11:49Z 2023-05-29T09:11:49Z 2021 Conference Paper 10.1007/978-3-030-66169-4_19 2-s2.0-85104898519 https://www.scopus.com/inward/record.uri?eid=2-s2.0-85104898519&doi=10.1007%2f978-3-030-66169-4_19&partnerID=40&md5=299180c055b9f89d22b7784db23d3b6b https://irepository.uniten.edu.my/handle/123456789/26549 82 141 150 Springer Science and Business Media Deutschland GmbH Scopus |
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| description |
Biochemical engineering; Controllers; Electronic medical equipment; Exoskeleton (Robotics); Heuristic methods; Patient rehabilitation; Three term control systems; Algorithm implementation; Closed-loop method; Exoskeleton devices; Exoskeleton mechanism; Performance analysis; Post-stroke rehabilitation; Rehabilitation devices; World Health Organization; Position control |
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54394011300 |
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54394011300 Ab Patar M.N.A. Abdu Salam M.N. Hazim Jamaluddin M.A. Lee H. Hanafusa A. |
| format |
Conference Paper |
| author |
Ab Patar M.N.A. Abdu Salam M.N. Hazim Jamaluddin M.A. Lee H. Hanafusa A. |
| spellingShingle |
Ab Patar M.N.A. Abdu Salam M.N. Hazim Jamaluddin M.A. Lee H. Hanafusa A. Finger Exoskeleton for Early Acute Post Stroke Rehabilitation: Control Design and Performance Analysis |
| author_sort |
Ab Patar M.N.A. |
| title |
Finger Exoskeleton for Early Acute Post Stroke Rehabilitation: Control Design and Performance Analysis |
| title_short |
Finger Exoskeleton for Early Acute Post Stroke Rehabilitation: Control Design and Performance Analysis |
| title_full |
Finger Exoskeleton for Early Acute Post Stroke Rehabilitation: Control Design and Performance Analysis |
| title_fullStr |
Finger Exoskeleton for Early Acute Post Stroke Rehabilitation: Control Design and Performance Analysis |
| title_full_unstemmed |
Finger Exoskeleton for Early Acute Post Stroke Rehabilitation: Control Design and Performance Analysis |
| title_sort |
finger exoskeleton for early acute post stroke rehabilitation: control design and performance analysis |
| publisher |
Springer Science and Business Media Deutschland GmbH |
| publishDate |
2023 |
| _version_ |
1806426662717358080 |