Force Adaptation Algorithm for Finger Exercise Using Kuka Youbot

Authors

  • Muhammad Abdul Jalil Center of Excellence in Robotic and Industrial Automation, Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Malaysia.
  • Muhammad Fahmi Miskon Center of Excellence in Robotic and Industrial Automation, Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Malaysia.
  • Mohd Bazli Bahar Center of Excellence in Robotic and Industrial Automation, Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Malaysia.
  • Muhammad Herman Jamaluddin Center of Excellence in Robotic and Industrial Automation, Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Malaysia.
  • Fariz Ali Center of Excellence in Robotic and Industrial Automation, Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Malaysia.
  • Yusaimi Yunus Department of Marine Engineering, Polytechnic Ungku Omar, Perak, Malaysia.

Keywords:

Adaptation, force feedback, finger exercise, rehabilitation, KUKA Youbot,

Abstract

The comfort and safety is still a major impact in designing a rehabilitation robot. This paper presents an adaptive control strategy algorithm for rehabilitation robot using KUKA Youbot for human finger. The algorithm is designed to handle the safety and comfort criteria during finger rehabilitation using finger force feedback. Two algorithms are developed to handle two different types of exercises for patient’s finger. These algorithms are tested in VREP simulation software. The spring damper system is used to simulate the human’s finger along with finger’s mechanical properties. Both algorithms used forced feedback to adapt the limitation of a patient’s finger. The 5 Nm was set as a safety threshold force that human can handle. The result shows that the algorithm has an ability to follow the safety criteria and can adapt the limitation of a human finger.

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Published

2017-10-15

How to Cite

Abdul Jalil, M., Miskon, M. F., Bahar, M. B., Jamaluddin, M. H., Ali, F., & Yunus, Y. (2017). Force Adaptation Algorithm for Finger Exercise Using Kuka Youbot. Journal of Telecommunication, Electronic and Computer Engineering (JTEC), 9(3-2), 27–30. Retrieved from https://jtec.utem.edu.my/jtec/article/view/2807

Issue

Vol. 9 No. 3-2: EMPOWERING SCIENCE, ENGINEERING AND TECHNOLOGY TOWARDS GLOBAL MANUFACTURING SUSTAINABILITY

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Articles

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