The Investigation Of The Position Control Finger For Rehabilitation Robot Using 5DOF Robotic Arm Manipulator

Marikon, Muhammad Redzuan (2017) The Investigation Of The Position Control Finger For Rehabilitation Robot Using 5DOF Robotic Arm Manipulator. Project Report. UTeM, Melaka. (Submitted)

Text The Investigation Of The Position Control Finger For Rehabilitation Robot Using 5DOF Robotic Arm Manipulator - Muhammad Redzuan Marikon - 24 pages.pdf - Submitted Version Download (628kB)

Abstract

Robotic rehabilitation is widely use especially in application of finger rehabilitation. Every year, 15 million people worldwide suffer a stroke. Patient with stroke disease need long time and lot of rehabilitation training. Modern method nowadays, the robot rehabilitation method is use to give repetitive task and focus to targeted rehabilitation technique. This method will give the patient ability to do the rehabilitation training by their own even at their home. In this investigation is to position control of finger rehabilitation robot using 5 DOF robotic arm. The problem of control finger for rehabilitation is how to generate the trajectory generation in terms of angular position from initial and final of the robot during rehabilitation session. Moreover, the problem in term of different size and length of the human finger need to be consider as well as the movement of the robot need to same with actual human finger motion. The objective for this investigation is to investigate, design and evaluate the position control of finger rehabilitation robot using 5 DOF robotic arm using KUKA Youbot and VREP simulation software.This investigation focus on the simulation in VREP by using the KUKA Youbot robot. The finger that have been evaluate for this investigation is only for index finger. Based on the Cartesian space scheme method, this method able to determine the position of the end effector by using the quarter circular formula and parabolic equation. The methodology of this investigation is the quarter circular formula will determine the total path point to generate the smooth motion of the robot using MATLAB software. To determine the trajectory path of end effector for different length of human finger, the parabolic circular motion has been used in the VREP simulation software to observe and analysis the position, velocity and acceleration of the robot and it effect to the finger joints. This investigation able to control the movement of the finger rehabilitation robot with the different length of the patient’s finger with the absolute error 0.067m for x-axis and 0.044m for y-axis. The accuracy for the 15 path point that use in this simulation is 97.2 percent. To reduce the force acting to the finger joints, the simulation need to use the joint velocity below 10 deg/sec and the acceleration 0.3 deg/sec^2. The simulation able to control the position of the index finger during rehabilitation session.

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