Robot assisted knee joint RoM exercise: A PID parallel compensator architecture through impedance estimation
Knee joint rehabilitation exercise refers to a therapeutic procedure of a patient having dysfunctions in certain abilities to move knee joint due to some medical conditions like trauma or paralysis. The exercise is basically a series of repeated assistive physical movements within the range of motio...
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| Format: | Article |
| Language: | English |
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KeAi Communications Co. Ltd.
2024-01-01
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| Series: | Cognitive Robotics |
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| Online Access: | http://www.sciencedirect.com/science/article/pii/S266724132300040X |
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| author | M. Akhtaruzzaman Amir A. Shafie Md Raisuddin Khan Md Mozasser Rahman |
| author_facet | M. Akhtaruzzaman Amir A. Shafie Md Raisuddin Khan Md Mozasser Rahman |
| author_sort | M. Akhtaruzzaman |
| collection | DOAJ |
| description | Knee joint rehabilitation exercise refers to a therapeutic procedure of a patient having dysfunctions in certain abilities to move knee joint due to some medical conditions like trauma or paralysis. The exercise is basically a series of repeated assistive physical movements within the range of motion (RoM) of the joint. Reflex action of limbs during RoM exercise causes inappropriate balance of load which may cause secondary injuries, such as damages of muscle or tendon tissues. Establishing correlation between impedance data and limb motions is important to solve this problem. This paper aims to design and modeling of a robotic arm with an original approach in control strategy which is developed based on the correlation in between the joint-impedances and joint-motion characteristics during exercise. The knee joint impedances are estimated based on the internal feedback of the system dynamics, that lead to design the torque compensator to improve the overall control signals in real time. This paper also demonstrates the characteristics of various responses of the system during exercise with human subject. Results have reflected good performances with low position and velocity tracking errors, ±0.02∘ and 0.04rad.sec−1 during hold phase; and ±0.14∘ and 0.17rad.sec−1 during motion phse. Though, the limitation of the prototype is its current RoM (limited to 0∘–25∘), the system has potential in the application of RoM exercise for paraplegic or monoplegic patients. |
| format | Article |
| id | doaj-art-34bf1382f38f4f9f8e7b20344143aeca |
| institution | OA Journals |
| issn | 2667-2413 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | KeAi Communications Co. Ltd. |
| record_format | Article |
| series | Cognitive Robotics |
| spelling | doaj-art-34bf1382f38f4f9f8e7b20344143aeca2025-08-20T02:37:53ZengKeAi Communications Co. Ltd.Cognitive Robotics2667-24132024-01-014426110.1016/j.cogr.2023.11.003Robot assisted knee joint RoM exercise: A PID parallel compensator architecture through impedance estimationM. Akhtaruzzaman0Amir A. Shafie1Md Raisuddin Khan2Md Mozasser Rahman3Department of Computer Science and Engineering, Military Institute of Science and Technology, 1216 Dhaka, Bangladesh; Corresponding author.Department of Mechatronics Engineering, International Islamic University Malaysia, 53100 Kuala Lumpur, MalaysiaDepartment of Mechatronics Engineering, International Islamic University Malaysia, 53100 Kuala Lumpur, MalaysiaFaculty of Engineering Technology, Universiti Tun Hussein Onn Malaysia, 86400 Johor, MalaysiaKnee joint rehabilitation exercise refers to a therapeutic procedure of a patient having dysfunctions in certain abilities to move knee joint due to some medical conditions like trauma or paralysis. The exercise is basically a series of repeated assistive physical movements within the range of motion (RoM) of the joint. Reflex action of limbs during RoM exercise causes inappropriate balance of load which may cause secondary injuries, such as damages of muscle or tendon tissues. Establishing correlation between impedance data and limb motions is important to solve this problem. This paper aims to design and modeling of a robotic arm with an original approach in control strategy which is developed based on the correlation in between the joint-impedances and joint-motion characteristics during exercise. The knee joint impedances are estimated based on the internal feedback of the system dynamics, that lead to design the torque compensator to improve the overall control signals in real time. This paper also demonstrates the characteristics of various responses of the system during exercise with human subject. Results have reflected good performances with low position and velocity tracking errors, ±0.02∘ and 0.04rad.sec−1 during hold phase; and ±0.14∘ and 0.17rad.sec−1 during motion phse. Though, the limitation of the prototype is its current RoM (limited to 0∘–25∘), the system has potential in the application of RoM exercise for paraplegic or monoplegic patients.http://www.sciencedirect.com/science/article/pii/S266724132300040XKnee joint rehabilitationRobot assisted systemAssistive RoM exerciseImpedance estimationHuman-robot interaction |
| spellingShingle | M. Akhtaruzzaman Amir A. Shafie Md Raisuddin Khan Md Mozasser Rahman Robot assisted knee joint RoM exercise: A PID parallel compensator architecture through impedance estimation Cognitive Robotics Knee joint rehabilitation Robot assisted system Assistive RoM exercise Impedance estimation Human-robot interaction |
| title | Robot assisted knee joint RoM exercise: A PID parallel compensator architecture through impedance estimation |
| title_full | Robot assisted knee joint RoM exercise: A PID parallel compensator architecture through impedance estimation |
| title_fullStr | Robot assisted knee joint RoM exercise: A PID parallel compensator architecture through impedance estimation |
| title_full_unstemmed | Robot assisted knee joint RoM exercise: A PID parallel compensator architecture through impedance estimation |
| title_short | Robot assisted knee joint RoM exercise: A PID parallel compensator architecture through impedance estimation |
| title_sort | robot assisted knee joint rom exercise a pid parallel compensator architecture through impedance estimation |
| topic | Knee joint rehabilitation Robot assisted system Assistive RoM exercise Impedance estimation Human-robot interaction |
| url | http://www.sciencedirect.com/science/article/pii/S266724132300040X |
| work_keys_str_mv | AT makhtaruzzaman robotassistedkneejointromexerciseapidparallelcompensatorarchitecturethroughimpedanceestimation AT amirashafie robotassistedkneejointromexerciseapidparallelcompensatorarchitecturethroughimpedanceestimation AT mdraisuddinkhan robotassistedkneejointromexerciseapidparallelcompensatorarchitecturethroughimpedanceestimation AT mdmozasserrahman robotassistedkneejointromexerciseapidparallelcompensatorarchitecturethroughimpedanceestimation |