Trajectory tracking analysis of planar end-effector upper limb rehabilitation device

Rehabilitation devices have become one of the more sought-after focus areas among researchers in the robotics field, where it could be used to assist patients in the process of stroke recovery. Therefore, the motivation of this thesis is to further investigate the planar end-effector upper limb reha...

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Main Authors:	Lim, H. Y., Muhammad Aizzat, Zakaria
Format:	Book Section
Language:	English English
Published:	Springer Singapore 2018
Subjects:	TS Manufactures
Online Access:	http://umpir.ump.edu.my/id/eprint/21709/ http://umpir.ump.edu.my/id/eprint/21709/ http://umpir.ump.edu.my/id/eprint/21709/ http://umpir.ump.edu.my/id/eprint/21709/1/book39%20Trajectory%20tracking%20analysis%20of%20planar%20end-effector%20upper%20limb%20rehabilitation%20device.pdf http://umpir.ump.edu.my/id/eprint/21709/2/book39.1%20Trajectory%20tracking%20analysis%20of%20planar%20end-effector%20upper%20limb%20rehabilitation%20device.pdf

id	ump-21709
recordtype	eprints
spelling	ump-217092018-08-06T07:22:56Z http://umpir.ump.edu.my/id/eprint/21709/ Trajectory tracking analysis of planar end-effector upper limb rehabilitation device Lim, H. Y. Muhammad Aizzat, Zakaria TS Manufactures Rehabilitation devices have become one of the more sought-after focus areas among researchers in the robotics field, where it could be used to assist patients in the process of stroke recovery. Therefore, the motivation of this thesis is to further investigate the planar end-effector upper limb rehabilitation device as a viable solution for patients with movement disorders, instead of the more expensive alternative of exoskeleton robots. This paper illustrates the mathematical modelling and simulation of a planar end-effector rehabilitation device for the upper limb. The rehabilitation device is of two degrees of freedom, and is used in this research due to its cost effectiveness and practicality. The derivation of the forward and inverse kinematics of the robotic system is established by using the Denavit-Hartenberg algorithm, which is proceeded to be used in the trajectory tracking of the end-effector of the device, as well as the programming of the feedback control system to control the actuators used in the system. The results of the simulation suggest that the mathematical modelling of the system is able to predict the behaviour of the system, which is to be implemented in this robotic device for upper limb rehabilitation. Springer Singapore 2018-04-28 Book Section PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/21709/1/book39%20Trajectory%20tracking%20analysis%20of%20planar%20end-effector%20upper%20limb%20rehabilitation%20device.pdf pdf en http://umpir.ump.edu.my/id/eprint/21709/2/book39.1%20Trajectory%20tracking%20analysis%20of%20planar%20end-effector%20upper%20limb%20rehabilitation%20device.pdf Lim, H. Y. and Muhammad Aizzat, Zakaria (2018) Trajectory tracking analysis of planar end-effector upper limb rehabilitation device. In: Intelligent Manufacturing & Mechatronics: Proceedings of Symposium, 29 January 2018, Pekan, Pahang, Malaysia. Lecture Notes in Mechanical Engineering . Springer Singapore, Singapore, pp. 183-195. ISBN 9789811087875 https://doi.org/10.1007/978-981-10-8788-2_18 DOI: 10.1007/978-981-10-8788-2_18
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English English
topic	TS Manufactures
spellingShingle	TS Manufactures Lim, H. Y. Muhammad Aizzat, Zakaria Trajectory tracking analysis of planar end-effector upper limb rehabilitation device
description	Rehabilitation devices have become one of the more sought-after focus areas among researchers in the robotics field, where it could be used to assist patients in the process of stroke recovery. Therefore, the motivation of this thesis is to further investigate the planar end-effector upper limb rehabilitation device as a viable solution for patients with movement disorders, instead of the more expensive alternative of exoskeleton robots. This paper illustrates the mathematical modelling and simulation of a planar end-effector rehabilitation device for the upper limb. The rehabilitation device is of two degrees of freedom, and is used in this research due to its cost effectiveness and practicality. The derivation of the forward and inverse kinematics of the robotic system is established by using the Denavit-Hartenberg algorithm, which is proceeded to be used in the trajectory tracking of the end-effector of the device, as well as the programming of the feedback control system to control the actuators used in the system. The results of the simulation suggest that the mathematical modelling of the system is able to predict the behaviour of the system, which is to be implemented in this robotic device for upper limb rehabilitation.
format	Book Section
author	Lim, H. Y. Muhammad Aizzat, Zakaria
author_facet	Lim, H. Y. Muhammad Aizzat, Zakaria
author_sort	Lim, H. Y.
title	Trajectory tracking analysis of planar end-effector upper limb rehabilitation device
title_short	Trajectory tracking analysis of planar end-effector upper limb rehabilitation device
title_full	Trajectory tracking analysis of planar end-effector upper limb rehabilitation device
title_fullStr	Trajectory tracking analysis of planar end-effector upper limb rehabilitation device
title_full_unstemmed	Trajectory tracking analysis of planar end-effector upper limb rehabilitation device
title_sort	trajectory tracking analysis of planar end-effector upper limb rehabilitation device
publisher	Springer Singapore
publishDate	2018
url	http://umpir.ump.edu.my/id/eprint/21709/ http://umpir.ump.edu.my/id/eprint/21709/ http://umpir.ump.edu.my/id/eprint/21709/ http://umpir.ump.edu.my/id/eprint/21709/1/book39%20Trajectory%20tracking%20analysis%20of%20planar%20end-effector%20upper%20limb%20rehabilitation%20device.pdf http://umpir.ump.edu.my/id/eprint/21709/2/book39.1%20Trajectory%20tracking%20analysis%20of%20planar%20end-effector%20upper%20limb%20rehabilitation%20device.pdf
first_indexed	2023-09-18T22:31:57Z
last_indexed	2023-09-18T22:31:57Z
_version_	1777416345121456128

Trajectory tracking analysis of planar end-effector upper limb rehabilitation device

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