Development of a controller for an exoskeleton arm movement

Wan Abdullah, Wan Mohammed Badrul Amin (2021) Development of a controller for an exoskeleton arm movement. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

The use of robotics had not yet been extensively studied in stroke patient rehabilitation. Stroke patients and people with disabilities had trouble performing their everyday operations without their fingertips. In order to recover from their illnesses, stroke patients often take a long time. In order to solve the problem, three objectives need to be achieved in this project which were to design the exoskeleton arm model using SolidWork software, to add a controller into the exoskeleton arm block diagram and to analyze the movement of the exoskeleton arm using the same degree of movement as real human arm. These ideas were still being commercialized since the system needs to be improved and upgraded to make it more accessible to impaired persons. To achieve these objectives, four things needed to be considered in the literature review which are hand design specification, mechanical design for hand exoskeleton device, PID controller and the tuning method of the PID controller. The designed of exoskeleton arm was based on a real arm which had two degree of freedom (DoF) such as shoulder joint and elbow joint. The exoskeleton arm model was designed using SolidWorks. Then, the design file will be extracted from SolidWorks into MATLAB-Simulink. The block diagram of exoskeleton arm model will be simulated using MATLAB-Simulink. The PID controller will be added into the exoskeleton block diagram in order to control the movement of the arm. The human arm movement was analyzed based on the output performance of the PID controller. The PID controlleris tuned by using the MATLAB Autotuning method. The output result on based on the transient response which the exoskeleton arm was able to put its hand ups in stable condition such as a real human raising thier hand up. The future works for this project for this project are added more degree of freedom at the arm exoskeleton model, add load for the exoskeleton arm such as at wrist when the exoskeleton arm is moving and add another controller such Fuzzy Logic controller and do the comparison with PID controller and decide which one would produce a better result. Based on the software that been used which is MATLAB version 2015b, the project be be improved by using newer version MATLAB that may contains new improvements and features.

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