Dynamic compensation controller with feedback linearization technique of 3 degree of freedom exoskeleton robotic arm for upper limb rehabilitation purpose
Loading...
Date
2017-06
Authors
Nur Fasihah Mohd Sobri
Journal Title
Journal ISSN
Volume Title
Publisher
Abstract
A controller for an exoskeleton robotic arm is design in this project. This controller is design for a rehabilitation purpose especially for the stroke patients. Stroke is defined as a rapid development of clinical signs of focal disturbances of cerebral function that lasting for 24 hours or longer or can cause to sudden death with no apparent cause apart from vascular origin. Moreover, we know that stroke is synonym with paralysis which bring the meaning of disability to move some part of the body. Hence, there is a method called physiotherapy to cure the stroke’s patient and the therapy should be performed regularly by the patient in order to have fast recovery with the help and encouragement from doctor and physiotherapist. In this project, we will focus on upper body illness which we will stress on a single robotic arm. A dynamic compensation controller with feedback linearization technique is develop to control the exoskeleton robotic arm with the consideration of patient’s arm. The aim for this controller is to help the patient to do their therapy session without the need of close supervision from a specialist like physiotherapist. The controller is not meant to replace the existing treatment carried out by physiotherapist but rather to complement or help the patient to accelerate the recovery period. The experiments show that PID controller alone does not has the capability to compensate for dynamics attributed by the exoskeleton robot arm and the patient arm. Therefore, feedback linearization technique is applied to overcome the inherent nonlinearity dynamics of the robotic arm.