PID Controller Design for Human Elbow Therapy

Yıl 2016, , 282 - 285, 01.12.2016

İkbal Eski Ahmet Kirnap , Mehmet Kirnap

https://doi.org/10.18100/ijamec.270495

Öz

A controller design for mechatronic system which capable of doing  passive therapeutic exercises of patients who
have upper extremity limitation is presented in this paper. Expectation from
controller is it should produce torque values can exactly repeat degree values
depended on time which were taken from first therapy exercises of patients. The
designed controller tested with real angle values which was  taken from during elbow therapy. Simulation
results showed that the proposed control system has good performance at  tracking the therapy trajectory.  Also that control system may be used for
mechatronic upper limb therapy system which can be produced.

Anahtar Kelimeler

Controller design, limitation at human joints, therapeutic exercises, therapy system

Kaynakça

• [1] H. Zhou and H. Hu, "Human motion tracking for rehabilitation—A survey," Biomedical Signal Processing and Control, vol. 3, pp. 1-18, 1// 2008.
• [2] Z. Huiyu and H. Huosheng, "Inertial motion tracking of human arm movements in stroke rehabilitation," in Mechatronics and Automation, 2005 IEEE International Conference, 2005, pp. 1306-1311 Vol. 3.
• [3] Z. Huiyu and H. Huosheng, "Kinematic model aided inertial motion tracking of human upper limb," in Information Acquisition, 2005 IEEE International Conference on, 2005, p. 6 pp.
• [4] H. Zhou, H. Hu, and N. D. Harris, "Wearable inertial sensors for arm motion tracking in home-based rehabilitation," in IAS, 2006, pp. 930-937.
• [5] H. Zhou and H. Hu, "Inertial sensors for motion detection of human upper limbs," Sensor Review, vol. 27, pp. 151-158, 2007.
• [6] H. Zhou and H. Hu, "Upper limb motion estimation from inertial measurements," International Journal of Information Technology, vol. 13, pp. 1-14, 2007.
• [7] H. N. Rasyid, T. R. Mengko, S. Soegijoko, and J. T. Pramudito, "Design and realization of personal computer-based continuous passive motion device to prevent shoulder joint stiffness," in Circuits and Systems, 2004. Proceedings. The 2004 IEEE Asia-Pacific Conference on, 2004, pp. 573-576 vol.1.
• [8] M. Mihelj, T. Nef, and R. Riener, "A novel paradigm for patient-cooperative control of upper-limb rehabilitation robots," Advanced Robotics, vol. 21, pp. 843-867, 2007/01/01 2007.
• [9] B. Birch, E. Haslam, I. Heerah, N. Dechev, and E. J. Park, "Design of a continuous passive and active motion device for hand rehabilitation," in Engineering in Medicine and Biology Society, 2008. EMBS 2008. 30th Annual International Conference of the IEEE, 2008, pp. 4306-4309.
• [10] M. Saputra and A. Iskandar, "Development of automatic Continuous Passive Motion therapeutic system," in Instrumentation, Communications, Information Technology, and Biomedical Engineering (ICICI-BME), 2011 2nd International Conference on, 2011, pp. 376-379.
• [11] S. Dong, K.-Q. Lu, J. Q. Sun, and K. Rudolph, "A prototype rehabilitation device with variable resistance and joint motion control," Medical Engineering & Physics, vol. 28, pp. 348-355, 5// 2006.
• [12] W. Hassani, S. Mohammed, H. Rifaï, and Y. Amirat, "Powered orthosis for lower limb movements assistance and rehabilitation," Control Engineering Practice, vol. 26, pp. 245-253, 5// 2014.
• [13] F. Zhang, P. Li, Z.-G. Hou, Z. Lu, Y. Chen, Q. Li, et al., "sEMG-based continuous estimation of joint angles of human legs by using BP neural network," Neurocomputing, vol. 78, pp. 139-148, 2/15/ 2012.
• [14] P. K. Jamwal, S. Xie, and K. C. Aw, "Kinematic design optimization of a parallel ankle rehabilitation robot using modified genetic algorithm," Robotics and Autonomous Systems, vol. 57, pp. 1018-1027, 10/31/ 2009.
• [15] W. Wang, Z.-G. Hou, L. Tong, F. Zhang, Y. Chen, and M. Tan, "A novel leg orthosis for lower limb rehabilitation robots of the sitting/lying type," Mechanism and Machine Theory, vol. 74, pp. 337-353, 4// 2014.
• [16] K.-M. Lee and J. Guo, "Kinematic and dynamic analysis of an anatomically based knee joint," Journal of Biomechanics, vol. 43, pp. 1231-1236, 5/7/ 2010.
• [17] M. C. Chua, A. S. Hyngstrom, A. V. Ng, and B. D. Schmit, "Relative changes in ankle and hip control during bilateral joint movements in persons with multiple sclerosis," Clinical Neurophysiology, vol. 125, pp. 1192-1201, 6// 2014.
• [18] Ş. Yildirim, İ. Eski, and Y. Polat, "Design of adaptive neural predictor for failure analysis on hip and knee joints of humans," Neural Computing and Applications, vol. 23, pp. 73-87, 2012.
• [19] S. Stroeve, "Impedance characteristics of a neuromusculoskeletal model of the human arm I. Posture control," Biological Cybernetics, vol. 81, pp. 475-494.
• [20] T. E. Milner, "Adaptation to destabilizing dynamics by means of muscle cocontraction," Experimental Brain Research, vol. 143, pp. 406-416, 2002.
• [21] S. Morita, T. Kondo, and K. Ito, "Estimation of forearm movement from EMG signal and application to prosthetic hand control," in Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on, 2001, pp. 3692-3697 vol.4.
• [22] K. J. Kuchenbecker, J. G. Park, and G. Niemeyer, "Characterizing the human wrist for improved haptic interaction," in ASME 2003 International Mechanical Engineering Congress and Exposition, 2003, pp. 591-598.
• [23] N. Hogan, "Controlling impedance at the man/machine interface," in Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on, 1989, pp. 1626-1631 vol.3.
• [24] A. A. Frolov, R. Prokopenko, M. Dufosse, and F. B. Ouezdou, "Adjustment of the human arm viscoelastic properties to the direction of reaching," Biological cybernetics, vol. 94, pp. 97-109, 2006.