Browsing by Author "GOL MOHAMMADZADEH, Mohammad Hassan"
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Item OPTIMAL DESIGN OF THE ROBOTIC EXOSKELETON FOR HAND REHABILITATION(2022-02-15) GOL MOHAMMADZADEH, Mohammad Hassan; ERTAN, Hulusi Bülent; ARIKAN, Kutluk BilgeThis thesis is a part of the research project which aims to design and implement a robotic hand rehabilitation system. The disabilities caused by the cerebral vascular accidents are hemiplegic. Therefore, the system is designed to make the impaired hand be driven by the exoskeleton. This system consists of a robotic hand exoskeleton which is synchronized with the visual stimulus software and the monitoring system for the activity of the mirror neuron system. Focus of this thesis is on optimizing the exoskeleton mechanism using a multi-objective cost function in terms of the forward and backward transmission angles and the desired kinematics. Mathematical models based on the multibody dynamics approach are used for the design and simulation purposes. In addition, the quasi-static models are utilized. The passive torques in the joints of the human finger are modeled with the ordinary and fractional order mathematical terms. In the simulations, both the integer and the fractional order passive torques are implemented. The fractional order model is mainly used to represent the anomaly due to the spasticity. Two control strategies, namely the Proportional-Integral-Derivative (PID) and Feedback Error Learning (FEL) types are designed and evaluated with simulations to control the exoskeleton system during the pinching motion. It is shown that the adaptive controller, FEL, copes with the fractional order passive torques better than the PID controller. It is shown that the inverse and direct quasi-static models are used to estimate the passive torques.