College of Engineering and Applied Sciences - Description
Mechanical Engineering Department Motion Control of Robot for passive rehabilitation of human shoulder Presented by Md Rasedul Islam PhD Student Mechanical Engineering Department ID: 723830 Download Presentation
Mechanical Engineering Department . Motion Control of Robot for passive rehabilitation of human shoulder . Presented by. Md. . Rasedul. Islam. PhD Student. Mechanical Engineering Department. .
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Presentation on theme: "College of Engineering and Applied Sciences"— Presentation transcript:
Slide1
College of Engineering and Applied Sciences
Mechanical Engineering Department
Motion Control of Robot for passive rehabilitation of human shoulder
Presented by
Md
Rasedul
Islam
PhD Student
Mechanical Engineering Department
Slide2
College of Engineering and Applied Sciences
Mechanical Engineering Department
American Heart Association reports
Incorporation of robots in rehabilitation started back in early 1990s
Approximately 785,000 persons experiences a new or recurrent cerebral vascular accident (CVA) in US
Among which 58000 people experience mobility impairment
Having difficulty doing ADLs (Reaching, Gripping, Touching
etc
)
I
t
is essential to restore motor function
in
order to perform
ADL and return the domestic
and social
life
Task specific Repetitive
therapy program help regain lost
mobility
Limited number of health professionals
Slide3
College of Engineering and Applied Sciences
Mechanical Engineering Department
Robots in Rehabilitation
Robots have the potentiality in rehabilitation programs.
Incorporation
of robots in rehabilitation started back in early
1990s.
Two types end-effector type (MIT-Manus) and exoskeleton type (Armin-III)
In this project, a robotic device for shoulder rehabilitation were designed and controlled.
A non linear computed torque control technique was used to control the robot
Figure: Control Architecture
Slide7
College of Engineering and Applied Sciences
Mechanical Engineering Department
Simulation
To evaluate the performance of developed control technique, simulation was run to see the trajectory tracking of each joint movement.
Figure: Simulation result
Slide8
College of Engineering and Applied Sciences
Mechanical Engineering Department
Simulation (Continued)
The above graphs plotted from simulated results show comparison of measured trajectory (outcome of simulation) with desired trajectory (given), error and required torque as
well.
The measured trajectory is almost overlapped the given trajectory (Plot of angle against time).
The error (difference between reference and given trajectory) is lower than 0.05° that shows the efficacy of controller
(Plot of
error
against time
).The control is robust enough to handle the Nosie.
Slide9
College of Engineering and Applied Sciences
Mechanical Engineering Department
Future Works
Our ultimate goal is to develop a whole arm wearable exoskeleton for supper limb rehabilitation.
The proposed exoskeleton would be smart and intelligent.
It would have a fine and adaptive controller.
The control with EMG and signal would be incorporated in the controller.
Slide10
College of Engineering and Applied Sciences
Mechanical Engineering Department
Thanks
Slide11
College of Engineering and Applied Sciences
Mechanical Engineering Department
References
Mozaffarian
, D., Benjamin, E.J., Go, A.S., Arnett, D.K (2015). "Heart disease and stroke statistics—2015 update: a report from the American Heart Association". American Heart Association. Circulation. 2015;131:e29–e322
Heidenreich
, P.,
Trogdon
, J (2011). "Forecasting the Future of Cardiovascular Disease: A Policy Statement from the American Heart Association. Circulation"
