October 1, 2019 Thesis Open Access

ALEME ADDISIE

MARC21 XML Export

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    <subfield code="a">DESIGN AND ANALYSIS OF FUZZY BASED PID CONTROLLER FOR ELBOW-FOREARM REHABILITATION ROBOT</subfield>
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    <subfield code="a">&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;</subfield>
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