Investigation of 2DOF PID Controller for Physio-Therapeutic Application for Elbow Rehabilitation

Applied Sciences

Shawgi Mounis¹  Rupal Roy¹  MM Rashid¹  Md Tanvir Ahad²  Zahed Siddique²  Abbas Z. Kouzani³  M A Parvez Mahmud³  Maidul Islam⁴  Md Manjurul Ahsan⁵ 

[1] Mechatronics Engineering, International Islamic University Malaysia, Kula Lumpur 43200, Malaysia;School of Aerospace & Mechanical Engineering, University of Oklahoma, Norman, OK 73019, USA;School of Engineering, Deakin University, Geelong, VIC 3216, Australia;School of Engineering, RMIT University, Melbourne, VIC 3000, Australia;School of Industrial & System Engineering, University of Oklahoma, Norman, OK 73019, USA;

关键词: 2DOF PID;    elbow rehabilitation;    black box modeling;    upper limb rehabilitation;    exoskeleton;    system identification;   

DOI  :  10.3390/app11188617

来源: DOAJ

【 摘 要 】

The aim of this work is to evaluate the output of a two-degree of freedom (DOF) proportional integral derivative (PID) controller for controlling elbow flexion and extension on an upper limb rehabilitation robot of an existing model. Since the usage of upper limb rehabilitation is increasing dramatically because of human impairment, 2DOF has been proposed in this work as a suitable controller. The 2DOF PID controller offers set-point-weight features and, hence, is fast in removing disturbance from the system and ensuring system stability. Importantly, as the system parameters are unknown in this work, the black-box model approach has been taken into consideration, using the MATLAB System identification toolbox to estimate a model. The best-fitted estimated model is then coupled with the proposed controller in the MATLAB/Simulink environment that, upon successful simulation works, leads, finally, to the hardware implementation. Three different amplitudes of sinusoidal current signals, such as 0.3 amps, 0.2 amps, and 0.1 amps, are applied for hardware measurements. Considering patients’ physical conditions. In this work, the 2DOF controller offers a fast transient response, settling time, negligible tracking error and 0% overshoot and undershoot.

【 授权许可】

Unknown