Adaptive control for one-DOF finger rehabilitation robot
This project presents one of an adaptive control technique to control the DC motor for one-DOF (Degree of Freedom) finger rehabilitation robot. Many different types of controllers are used to provide accurate positioning of the of the DC motor for the rehabilitation robot. One of the common used in...
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| Format: | Thesis |
| Language: | English English English |
| Published: |
2019
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| Online Access: | http://eprints.uthm.edu.my/629/ http://eprints.uthm.edu.my/629/1/24p%20NURUL%20AQILAH%20JAINAL%20ABIDIN.pdf http://eprints.uthm.edu.my/629/2/NURUL%20AQILAH%20%20JAINAL%20ABIDIN%20WATERMARK.pdf http://eprints.uthm.edu.my/629/3/NURUL%20AQILAH%20JAINAL%20ABIDIN%20COPYRIGHT%20DECLARATION.pdf |
| _version_ | 1848887248802545664 |
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| author | Jainal Abidin, Nurul Aqilah |
| author_facet | Jainal Abidin, Nurul Aqilah |
| author_sort | Jainal Abidin, Nurul Aqilah |
| building | UTHM Institutional Repository |
| collection | Online Access |
| description | This project presents one of an adaptive control technique to control the DC motor for one-DOF (Degree of Freedom) finger rehabilitation robot. Many different types of controllers are used to provide accurate positioning of the of the DC motor for the rehabilitation robot. One of the common used in controller system is proportional–integral–derivative controller (PID controller). However, the limitation of the PID controller is unable to adapt the variations in the load, as handgrip stiffness can be varied from patient to patient and PID controller is needed to tune for each stiffness. The performance of the robot will be affected and the steady state error occurred when the unknown and inaccessible load torque is imposed. Therefore, in this project, a Model Reference Adaptive Control (MRAC) is proposed to design a stable controller that able to cope with the variations handgrip stiffness to reduce the positioning error and steady state error. The simulated result show that the designed adaptive controller provides good response with reduced settling time and without steady state error for entire range of handgrip stiffness. The MRAC controller will perform better for rehabilitation robot that able to cope with patients without the aid of any additional stiffness detection sensors. |
| first_indexed | 2025-11-15T19:51:23Z |
| format | Thesis |
| id | uthm-629 |
| institution | Universiti Tun Hussein Onn Malaysia |
| institution_category | Local University |
| language | English English English |
| last_indexed | 2025-11-15T19:51:23Z |
| publishDate | 2019 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | uthm-6292021-08-11T05:02:41Z http://eprints.uthm.edu.my/629/ Adaptive control for one-DOF finger rehabilitation robot Jainal Abidin, Nurul Aqilah TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) This project presents one of an adaptive control technique to control the DC motor for one-DOF (Degree of Freedom) finger rehabilitation robot. Many different types of controllers are used to provide accurate positioning of the of the DC motor for the rehabilitation robot. One of the common used in controller system is proportional–integral–derivative controller (PID controller). However, the limitation of the PID controller is unable to adapt the variations in the load, as handgrip stiffness can be varied from patient to patient and PID controller is needed to tune for each stiffness. The performance of the robot will be affected and the steady state error occurred when the unknown and inaccessible load torque is imposed. Therefore, in this project, a Model Reference Adaptive Control (MRAC) is proposed to design a stable controller that able to cope with the variations handgrip stiffness to reduce the positioning error and steady state error. The simulated result show that the designed adaptive controller provides good response with reduced settling time and without steady state error for entire range of handgrip stiffness. The MRAC controller will perform better for rehabilitation robot that able to cope with patients without the aid of any additional stiffness detection sensors. 2019-01 Thesis NonPeerReviewed text en http://eprints.uthm.edu.my/629/1/24p%20NURUL%20AQILAH%20JAINAL%20ABIDIN.pdf text en http://eprints.uthm.edu.my/629/2/NURUL%20AQILAH%20%20JAINAL%20ABIDIN%20WATERMARK.pdf text en http://eprints.uthm.edu.my/629/3/NURUL%20AQILAH%20JAINAL%20ABIDIN%20COPYRIGHT%20DECLARATION.pdf Jainal Abidin, Nurul Aqilah (2019) Adaptive control for one-DOF finger rehabilitation robot. Masters thesis, Universiti Tun Hussein Onn Malaysia. |
| spellingShingle | TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) Jainal Abidin, Nurul Aqilah Adaptive control for one-DOF finger rehabilitation robot |
| title | Adaptive control for one-DOF finger rehabilitation robot |
| title_full | Adaptive control for one-DOF finger rehabilitation robot |
| title_fullStr | Adaptive control for one-DOF finger rehabilitation robot |
| title_full_unstemmed | Adaptive control for one-DOF finger rehabilitation robot |
| title_short | Adaptive control for one-DOF finger rehabilitation robot |
| title_sort | adaptive control for one-dof finger rehabilitation robot |
| topic | TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) |
| url | http://eprints.uthm.edu.my/629/ http://eprints.uthm.edu.my/629/1/24p%20NURUL%20AQILAH%20JAINAL%20ABIDIN.pdf http://eprints.uthm.edu.my/629/2/NURUL%20AQILAH%20%20JAINAL%20ABIDIN%20WATERMARK.pdf http://eprints.uthm.edu.my/629/3/NURUL%20AQILAH%20JAINAL%20ABIDIN%20COPYRIGHT%20DECLARATION.pdf |