Nowadays, the use of Rehabilitation Robots for stroke patients has been growing rapidly. However, there was a limited scope of using such Rehabilitation Robots for patients suffer from accidental physical fracture. Since the pain condition of such accidents need a critical treatment, Precise control of such robotic manipulator is mandatory. This thesis presents the design of Elbow-forearm rehabilitation robot by considering the pain level of the patient. It Includes the mechatronic design processes such as mechanical design, controller design, and Vertual prototyping using ADAMS-MATLAB Co-simulation. By reviewing different literature, the mechanical model is designed using concept generation by considering the Ergonomics and other aspects of the patient. Then the model is developed using Solidwork 2018. The pain level is estimated using three parameters i.e the patient general condition, the muscle strain, and the duration of exercise from the beginning of rehabilitation. Using these three input parameters, the manipulator’s desired range of motion has been determined using Fuzzy Logic System. The output of this fuzzy logic system would be an input to the main control system. The vertual prototype is realized by the ADAMS-MATLAB Co-simulation using the developed PID control block on simulink. The Co-simulation is carried out using three reference inputs i.e Step, sinusoidal and the proposed fuzzy reference input. Using step input, we have discussed the step response characteristics of the developed system. The Cosimulation of the ADAMS dynamic model is realized with a 30 degree oscillating motion by providing a sinusoidal input. Finally, using the developed fuzzy reference input, we have done a Co-simulation of ADAMS plant. The simulation result demonstrates that the proposed PID controller with gains Kp=0.001 and Ki=0.01 yields 99.6% of accuracy in the tracking of the reference input as compared to the simulation without introducing controller which has an accuracy of 94.9%. The simulation also shows that derivative gain (Kd) of the PID controller has no effect on the system so that it is over damping system. This shows that the Elbow-Forearm rehabilitation robot could be smoothly controlled as per the pain level of the patient.


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    Title :

    DESIGN AND ANALYSIS OF FUZZY BASED PID CONTROLLER FOR ELBOW-FOREARM REHABILITATION ROBOT


    Contributors:

    Publication date :

    2019-10-08


    Remarks:

    doi:10.20372/nadre/4078



    Type of media :

    Theses


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




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