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

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