October 1, 2019 Thesis Open Access

ALEME ADDISIE

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  <identifier identifierType="DOI">10.20372/nadre:3800</identifier>
  <creators>
    <creator>
      <creatorName>ALEME ADDISIE</creatorName>
    </creator>
  </creators>
  <titles>
    <title>DESIGN AND ANALYSIS OF FUZZY BASED PID CONTROLLER FOR ELBOW-FOREARM REHABILITATION ROBOT</title>
  </titles>
  <publisher>Zenodo</publisher>
  <publicationYear>2019</publicationYear>
  <dates>
    <date dateType="Issued">2019-10-01</date>
  </dates>
  <resourceType resourceTypeGeneral="Text">Thesis</resourceType>
  <alternateIdentifiers>
    <alternateIdentifier alternateIdentifierType="url">https://nadre.ethernet.edu.et/record/3800</alternateIdentifier>
  </alternateIdentifiers>
  <relatedIdentifiers>
    <relatedIdentifier relatedIdentifierType="DOI" relationType="IsVersionOf">10.20372/nadre:3799</relatedIdentifier>
    <relatedIdentifier relatedIdentifierType="URL" relationType="IsPartOf">https://nadre.ethernet.edu.et/communities/aastu</relatedIdentifier>
    <relatedIdentifier relatedIdentifierType="URL" relationType="IsPartOf">https://nadre.ethernet.edu.et/communities/zenodo</relatedIdentifier>
  </relatedIdentifiers>
  <rightsList>
    <rights rightsURI="http://www.opendefinition.org/licenses/cc-by">Creative Commons Attribution</rights>
    <rights rightsURI="info:eu-repo/semantics/openAccess">Open Access</rights>
  </rightsList>
  <descriptions>
    <description descriptionType="Abstract">&lt;p&gt;Nowadays, the use of Rehabilitation Robots for stroke patients has been growing rapidly.&lt;br&gt;
However, there was a limited scope of using such Rehabilitation Robots for patients suffer&lt;br&gt;
from accidental physical fracture. Since the pain condition of such accidents need a critical&lt;br&gt;
treatment, Precise control of such robotic manipulator is mandatory.&lt;br&gt;
This thesis presents the design of Elbow-forearm rehabilitation robot by considering the&lt;br&gt;
pain level of the patient. It Includes the mechatronic design processes such as mechanical&lt;br&gt;
design, controller design, and Vertual prototyping using ADAMS-MATLAB Co-simulation.&lt;br&gt;
By reviewing different literature, the mechanical model is designed using concept generation&lt;br&gt;
by considering the Ergonomics and other aspects of the patient. Then the model is&lt;br&gt;
developed using Solidwork 2018. The pain level is estimated using three parameters i.e the&lt;br&gt;
patient general condition, the muscle strain, and the duration of exercise from the beginning&lt;br&gt;
of rehabilitation. Using these three input parameters, the manipulator&amp;rsquo;s desired range&lt;br&gt;
of motion has been determined using Fuzzy Logic System. The output of this fuzzy logic&lt;br&gt;
system would be an input to the main control system.&lt;br&gt;
The vertual prototype is realized by the ADAMS-MATLAB Co-simulation using the developed&lt;br&gt;
PID control block on simulink. The Co-simulation is carried out using three reference&lt;br&gt;
inputs i.e Step, sinusoidal and the proposed fuzzy reference input&lt;/p&gt;</description>
  </descriptions>
</resource>