Microcontroller-based control of a planar haptic device for rehabilitation of the human arm

Stroke patient specific robotic rehabilitation platform is currently one of the research and development areas with the objective to assist the conventional motor therapy. The existing solutions, whose diffusion is limited, are either sophisticated or costly. This work is related to a project that i...

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Main Author: Deng, Jianlin
Other Authors: Domenico Campolo
Format: Theses and Dissertations
Language:English
Published: 2015
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Online Access:http://hdl.handle.net/10356/65429
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-654292023-03-11T17:01:13Z Microcontroller-based control of a planar haptic device for rehabilitation of the human arm Deng, Jianlin Domenico Campolo School of Mechanical and Aerospace Engineering DRNTU::Engineering::Mechanical engineering Stroke patient specific robotic rehabilitation platform is currently one of the research and development areas with the objective to assist the conventional motor therapy. The existing solutions, whose diffusion is limited, are either sophisticated or costly. This work is related to a project that is underway: H-Man, a novel, portable and cost-effective device for arm rehabilitation, developed by Nanyang Technological University. With the execution of this work one seeks to obtain a device capable of generating PWM wave, measuring motor current, acquiring encoder data and rendering haptics aiming to take place of the current expensive controller in the H-Man system. The device is based on a micro-controller from Microchip as real-time control platform. The PWM module in the device is configured to generate the PWM wave. Besides, it offers the current monitor circuits. The QEI module is programmed to acquire the encoders' data in the H-Man. The micro-controller is connected through RS-232 to a personal computer, which works as the front end for the system. In corporation with the mechanical unit and workstation (PC) unit, the micro-controller is able to control the behavior of H-Man in real time and render haptics. Master of Science (Smart Product Design) 2015-09-22T04:10:32Z 2015-09-22T04:10:32Z 2015 2015 Thesis http://hdl.handle.net/10356/65429 en 97 p. application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic DRNTU::Engineering::Mechanical engineering
spellingShingle DRNTU::Engineering::Mechanical engineering
Deng, Jianlin
Microcontroller-based control of a planar haptic device for rehabilitation of the human arm
description Stroke patient specific robotic rehabilitation platform is currently one of the research and development areas with the objective to assist the conventional motor therapy. The existing solutions, whose diffusion is limited, are either sophisticated or costly. This work is related to a project that is underway: H-Man, a novel, portable and cost-effective device for arm rehabilitation, developed by Nanyang Technological University. With the execution of this work one seeks to obtain a device capable of generating PWM wave, measuring motor current, acquiring encoder data and rendering haptics aiming to take place of the current expensive controller in the H-Man system. The device is based on a micro-controller from Microchip as real-time control platform. The PWM module in the device is configured to generate the PWM wave. Besides, it offers the current monitor circuits. The QEI module is programmed to acquire the encoders' data in the H-Man. The micro-controller is connected through RS-232 to a personal computer, which works as the front end for the system. In corporation with the mechanical unit and workstation (PC) unit, the micro-controller is able to control the behavior of H-Man in real time and render haptics.
author2 Domenico Campolo
author_facet Domenico Campolo
Deng, Jianlin
format Theses and Dissertations
author Deng, Jianlin
author_sort Deng, Jianlin
title Microcontroller-based control of a planar haptic device for rehabilitation of the human arm
title_short Microcontroller-based control of a planar haptic device for rehabilitation of the human arm
title_full Microcontroller-based control of a planar haptic device for rehabilitation of the human arm
title_fullStr Microcontroller-based control of a planar haptic device for rehabilitation of the human arm
title_full_unstemmed Microcontroller-based control of a planar haptic device for rehabilitation of the human arm
title_sort microcontroller-based control of a planar haptic device for rehabilitation of the human arm
publishDate 2015
url http://hdl.handle.net/10356/65429
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