Modeling and Control Simulation of a Robotic Chair-Arm: Protection against COVID-19 in Rehabilitation Exercise
In the field of rehabilitation, lower-limbs therapeutic exercise has become a challenging job for medical professionals in COVID-19 pandemic. Providing manual therapy to lower limbs is not an easy task and, in most cases, it involves multiple persons. Moreover, it is a monotonous job, and the ser...
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| Autors principals: | , , , |
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| Format: | Article |
| Idioma: | anglès |
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R&D Wing, MIST
2021
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| Accés en línia: | http://dspace.mist.ac.bd:8080/xmlui/handle/123456789/576 |
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| _version_ | 1868227042532655104 |
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| author | Akhtaruzzaman, M. Shafie, Amir A. Khan, Md Raisuddin Rahman, Md Mozasser |
| author_browse | Akhtaruzzaman, M. Khan, Md Raisuddin Rahman, Md Mozasser Shafie, Amir A. |
| author_facet | Akhtaruzzaman, M. Shafie, Amir A. Khan, Md Raisuddin Rahman, Md Mozasser |
| author_sort | Akhtaruzzaman, M. |
| collection | DSpace |
| description | In the field of rehabilitation, lower-limbs therapeutic exercise has become a
challenging job for medical professionals in COVID-19 pandemic. Providing
manual therapy to lower limbs is not an easy task and, in most cases, it involves
multiple persons. Moreover, it is a monotonous job, and the service providers
need to be in close contact with the patient thereby creating the risk of
infection. In this circumstance, robot-assisted rehabilitation exercise for lower
limbs offers a risk-free solution. This paper presents dynamic modeling and
control simulation of One Degree of Freedom robotic chair-arm (robotic arm
attached with a special chair). The control structure is designed with two
compensators for position and velocity control. The simulation results show
that the proposed system has a good potential in providing automatic
rehabilitation therapy for lower limbs, especially for knee joint range of motion
exercise. The results also indicate faster responses with settling time less than
0.04 second and steady-state error below 0.05. The findings show that a robotic
chair arm can be used for providing automatic therapy to patients in situations
like COVID-19 pandemic. |
| format | Article |
| id | oai:localhost:123456789-576 |
| institution | My University |
| language | English |
| publishDate | 2021 |
| publishDateRange | 2021 |
| publishDateSort | 2021 |
| publisher | R&D Wing, MIST |
| publisherStr | R&D Wing, MIST |
| record_format | dspace |
| spelling | oai:localhost:123456789-5762021-01-10T06:53:07Z Modeling and Control Simulation of a Robotic Chair-Arm: Protection against COVID-19 in Rehabilitation Exercise Akhtaruzzaman, M. Shafie, Amir A. Khan, Md Raisuddin Rahman, Md Mozasser 1 -DoF robotic arm Robotic chair-arm Robot-assisted rehabilitation Lower-limbs therapeutic exercise Robot-assisted system COVID-19 In the field of rehabilitation, lower-limbs therapeutic exercise has become a challenging job for medical professionals in COVID-19 pandemic. Providing manual therapy to lower limbs is not an easy task and, in most cases, it involves multiple persons. Moreover, it is a monotonous job, and the service providers need to be in close contact with the patient thereby creating the risk of infection. In this circumstance, robot-assisted rehabilitation exercise for lower limbs offers a risk-free solution. This paper presents dynamic modeling and control simulation of One Degree of Freedom robotic chair-arm (robotic arm attached with a special chair). The control structure is designed with two compensators for position and velocity control. The simulation results show that the proposed system has a good potential in providing automatic rehabilitation therapy for lower limbs, especially for knee joint range of motion exercise. The results also indicate faster responses with settling time less than 0.04 second and steady-state error below 0.05. The findings show that a robotic chair arm can be used for providing automatic therapy to patients in situations like COVID-19 pandemic. 2021-01-10T06:53:01Z 2021-01-10T06:53:01Z 2020-12-16 Article 2224-2007 http://dspace.mist.ac.bd:8080/xmlui/handle/123456789/576 en application/pdf R&D Wing, MIST |
| spellingShingle | 1 -DoF robotic arm Robotic chair-arm Robot-assisted rehabilitation Lower-limbs therapeutic exercise Robot-assisted system COVID-19 Akhtaruzzaman, M. Shafie, Amir A. Khan, Md Raisuddin Rahman, Md Mozasser Modeling and Control Simulation of a Robotic Chair-Arm: Protection against COVID-19 in Rehabilitation Exercise |
| title | Modeling and Control Simulation of a Robotic Chair-Arm: Protection against COVID-19 in Rehabilitation Exercise |
| title_full | Modeling and Control Simulation of a Robotic Chair-Arm: Protection against COVID-19 in Rehabilitation Exercise |
| title_fullStr | Modeling and Control Simulation of a Robotic Chair-Arm: Protection against COVID-19 in Rehabilitation Exercise |
| title_full_unstemmed | Modeling and Control Simulation of a Robotic Chair-Arm: Protection against COVID-19 in Rehabilitation Exercise |
| title_short | Modeling and Control Simulation of a Robotic Chair-Arm: Protection against COVID-19 in Rehabilitation Exercise |
| title_sort | modeling and control simulation of a robotic chair arm protection against covid 19 in rehabilitation exercise |
| topic | 1 -DoF robotic arm Robotic chair-arm Robot-assisted rehabilitation Lower-limbs therapeutic exercise Robot-assisted system COVID-19 |
| url | http://dspace.mist.ac.bd:8080/xmlui/handle/123456789/576 |
| work_keys_str_mv | AT akhtaruzzamanm modelingandcontrolsimulationofaroboticchairarmprotectionagainstcovid19inrehabilitationexercise AT shafieamira modelingandcontrolsimulationofaroboticchairarmprotectionagainstcovid19inrehabilitationexercise AT khanmdraisuddin modelingandcontrolsimulationofaroboticchairarmprotectionagainstcovid19inrehabilitationexercise AT rahmanmdmozasser modelingandcontrolsimulationofaroboticchairarmprotectionagainstcovid19inrehabilitationexercise |