October 1, 2019 Thesis Open Access

ALEME ADDISIE

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{
  "DOI": "10.20372/nadre:3800", 
  "author": [
    {
      "family": "ALEME ADDISIE"
    }
  ], 
  "issued": {
    "date-parts": [
      [
        2019, 
        10, 
        1
      ]
    ]
  }, 
  "abstract": "<p>Nowadays, the use of Rehabilitation Robots for stroke patients has been growing rapidly.<br>\nHowever, there was a limited scope of using such Rehabilitation Robots for patients suffer<br>\nfrom accidental physical fracture. Since the pain condition of such accidents need a critical<br>\ntreatment, Precise control of such robotic manipulator is mandatory.<br>\nThis thesis presents the design of Elbow-forearm rehabilitation robot by considering the<br>\npain level of the patient. It Includes the mechatronic design processes such as mechanical<br>\ndesign, controller design, and Vertual prototyping using ADAMS-MATLAB Co-simulation.<br>\nBy reviewing different literature, the mechanical model is designed using concept generation<br>\nby considering the Ergonomics and other aspects of the patient. Then the model is<br>\ndeveloped using Solidwork 2018. The pain level is estimated using three parameters i.e the<br>\npatient general condition, the muscle strain, and the duration of exercise from the beginning<br>\nof rehabilitation. Using these three input parameters, the manipulator&rsquo;s desired range<br>\nof motion has been determined using Fuzzy Logic System. The output of this fuzzy logic<br>\nsystem would be an input to the main control system.<br>\nThe vertual prototype is realized by the ADAMS-MATLAB Co-simulation using the developed<br>\nPID control block on simulink. The Co-simulation is carried out using three reference<br>\ninputs i.e Step, sinusoidal and the proposed fuzzy reference input</p>", 
  "title": "DESIGN AND ANALYSIS OF FUZZY BASED PID CONTROLLER FOR ELBOW-FOREARM REHABILITATION ROBOT", 
  "type": "thesis", 
  "id": "3800"
}