Human lower arm analysis during different eating activities

Hussain, Zakia; Azlan, Norsinnira Zainul

doi:10.1109/icsgrc.2017.8070575

Cited by 2 publications

(1 citation statement)

References 8 publications

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“…The stroke victims' upper limbs weaken and as a result, they lose their arm's capability to perform tasks. One of the most important activities in daily living that is done frequently every day is eating [4,5]. It is very frustrating for the patients with upper limb impairment due to stroke to be unable to eat by themselves at any time that they want, at any place and at their own pace.…”

Section: Introductionmentioning

confidence: 99%

Assist as Needed Control Strategy for Upper Limb Rehabilitation Robot in Eating Activity

Azlan

Lukman²

2021

IIUMEJ

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The slacking behaviour or lack of participation from impaired patients during robotic rehabilitation therapy is one of the factors that slow down their recovery. The implementation of Assist As Needed (AAN) control law in the robotic assisted rehabilitation treatment may alleviate this problem and encourage the patients to be actively involved in the rehabilitation exercises. This paper presents a new Assist As Needed control strategy for an upper limb rehabilitation robot in assisting subjects with various levels of capabilities to regain their original upper limb’s functionality in realizing basic motions in eating activity. The controller consists of Proportional, Integral, Derivative (PID) controller in the feedback loop, with an adjustable gain K that varies according to the user’s level of capability. A Force Sensing Resistor (FSR) is used to identify the user’s upper extremity capability level. The controller regulates the necessary amount of assistance provided by the robot based on the information obtained from the sensor. The automatic adjustment of the robot’s assistance to the subjects leads them to put in their own effort in accomplishing the desired movements. The proposed control strategy is simple, easy to program, and mathematically less complicated. A prototype of the wearable upper limb rehabilitation robot has been built and a Graphical User Interface (GUI) has been developed using MATLAB software to facilitate the rehabilitation process and for progress monitoring. The simulation and experimental results have proven that the proposed control strategy is successful in regulating the necessary amount of robot assistance according to the patients’ level of capability. The proposed controller has effectively driven the upper limb rehabilitation robot to achieve the desired trajectory with zero steady state error, percentage overshoot less than 8% and settling time below 6 seconds, whilst providing the correct amount of robotic assistance in accordance to the subjects’ capability level. ABSTRAK: Reaksi kurang respon dari pesakit kurang keupayaan semasa terapi pemulihan robotik adalah satu faktor melambatkan kadar pemulihan. Pelaksanaan teknik kawalan Bantu Apabila Diperlukan (AAN) dalam rawatan pemulihan dengan bantuan robot dapat membantu dan mendorong pesakit terlibat secara aktif dalam latihan pemulihan. Artikel ini membentangkan strategi kawalan baru, iaitu Bantu Apabila Diperlukan oleh robot pemulihan bagi anggota atas pesakit yang mempunyai pelbagai tahap kemampuan, dalam mengembalikan fungsi asas gerakan tangan seperti aktiviti makan. Teknik kawalan terdiri daripada kawalan Berkadar, Integral, Terbitan (PID) dalam lingkaran tindak balas, dengan pemboleh ubah K mengikut tahap kemampuan pesakit. Alat pengukur Resistan Daya Rasa (FSR) digunakan bagi mengenal pasti tahap kemampuan maksima pesakit dalam menggerakkan tangan. Berdasarkan maklumat yang diperoleh daripada sensor, teknik kawalan akan menghantar maklumat kepada robot bagi membantu pesakit. Bantuan automatik yang dibekalkan robot kepada pesakit akan mendorong pesakit berusaha melakukan gerakan yang diperlukan. Strategi kawalan yang dicadangkan ini adalah ringkas, mudah diprogramkan dan kurang rumit dari segi matematik. Sebuah prototaip robot pemulihan anggota tangan telah dibina dan sebuah platform grafik bagi pengguna (Antara Muka Grafik Pengguna, GUI) telah dibangunkan menggunakan perisian MATLAB bagi memudahkan proses pemulihan dan pemantauan kemajuan pesakit. Hasil simulasi dan eksperimen membuktikan bahawa strategi cadangan kawalan ini berjaya mengatur jumlah bantuan daripada robot bersesuaian dengan tahap kemampuan pesakit. Teknik kawalan yang dicadangkan telah berjaya menggerakkan robot pemulihan tangan bagi mencapai lintasan gerakan yang diinginkan dengan ralat sifar pada keadaan stabil, peratusan ayunan berlebihan kurang daripada 8%, masa penyelesaian bawah 6 saat dan pada masa sama, memberikan maklumat bantuan robot yang tepat, bersesuaian dengan tahap kemampuan pesakit.

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Section: Introductionmentioning

confidence: 99%

Assist as Needed Control Strategy for Upper Limb Rehabilitation Robot in Eating Activity

Azlan

Lukman²

2021

IIUMEJ

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3-D Dynamic Modeling and Validation of Human Arm for Torque Determination During Eating Activity Using Kane’s Method

Hussain

Azlan

2019

Iran J Sci Technol Trans Mech Eng

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Upper limb disability is one of the major adversities faced by post-stroke patients. Eating is one of the fundamental activities of survival for all living beings. The robotic rehabilitation systems for people with upper limb disabilities must have the capability of assisting the patients, providing appropriate forces/torques, during various eating activities. In this study, a 3-D, four-DOF dynamic , mathematical model of human arm , including wrist and elbow joints, focusing on elbow flexion/extension motion, forearm pronation/supination, wrist flexion/extension and wrist adduction/abduction is formulated, for predicting the torques during different eating activities. A simulation study and experimental validation has been conducted involving five different food types and using two types of cutlery, which are, a fork and a spoon, to study their effect on the corresponding torques produced. It was observed that the maximum torque is obtained in both wrist and elbow joint when the subject digs into the food and eats (event B) in the majority of the eating tasks. The accuracy of the model, in terms of torque prediction, was compared to that of the load cell, for all eating activities, using RMSE as a statistical measure, to the test the performance of the model. The results indicate that 3-D dynamic model formulated fits all the torques for all eating activities very well, with the average RMSE of 0.05 Nm and the performance of the model is good. These results verify that the proposed Kane 's model, successfully models the HUL, during different eating tasks and using different types of cutlery.

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Human lower arm analysis during different eating activities

Cited by 2 publications

References 8 publications

Assist as Needed Control Strategy for Upper Limb Rehabilitation Robot in Eating Activity

Assist as Needed Control Strategy for Upper Limb Rehabilitation Robot in Eating Activity

3-D Dynamic Modeling and Validation of Human Arm for Torque Determination During Eating Activity Using Kane’s Method

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