FACULTY OF MECHANICAL ENGINEERING

RESEARCH METHODOLOGY
MPSW5013

Novel And Robust Humanoid Robot Arm Assisted In

Rehabilitation

Prepared for:
DR. RUZTAMREEN BIN JENAL

Prepared by:
AHMAD RAZIN BIN JASMI
M 041520007
 1. Summarize of the journals

No. AUTHORS PAPER TITLE OBJECTIVE RESEARCH FINDING

[1] Shan Liu， Development of a 1) To understand the For the initial feasibility study,
Yongji Wang new EDRNN movement mechanism simulation results are
and Quanmin procedure in provided to show that the GA
Zhu of the human arm on
Control of Human and EP approach can find out
Arm Trajectories the sagittal plan the suitable architecture of
2) To propose a new the DRNN, the ADBP
algorithm with momentum
control strategy to
can guarantee the
manipulate the convergence of the system,
complicated nonlinear and the controlled arm is well
behaved to follow up those
dynamical arm motions
requested trajectories. It
should be noticed that the
proposed control procedure
for the human arm movement
can be further expanded for
motor control, rehabilitation
robot control, and various
related applications.

[2] Adam Tan Adaptive Controller 1) To develop 2-DOF 2-segment compound

Mohd Amin, Algorithm for 2- humanoid robotic arm pendulum which mimics the
Abdul Hakim DOF Humanoid from derivation of the human upper arm and
Ab Rahim, dynamic equation of the forearm. Using the Lagrangian
Robot Arm
Cheng Yee Low simple double and Euler-Lagrange equations,
pendulum the 2-DOF dynamic equations
2) to introduce the were successfully derived and
adaptive controller solved using Euler’s method.
algorithm into the Two types of controllers; a
system in order for the feedback Proportional-
system to mimic the Derivative (PD) controller and
humanlike properties a feedforward controller,
were combined into the
model. The algorithm
exhibited learning of the
necessary torque required in
performing the desired
Position Control via Specific
Trajectory (PCST)
rehabilitative task via
feedback control and using it
as the feedforward torque in
subsequent trial motions.
[3] Hermano I. Stroke 1) The intent of this Whether multiple robots are
Krebs, Bruce T. Rehabilitation: An paper is to present data required to work with
Volpe, Daniel Argument in Favor that supports the use of different limb segments or
multiple robots to muscle groups has not been
Lynch, and of a Robotic Gym
deliver focused therapy answered adequately to date.
Neville Hogan to different limb Although one could argue that
segments and joints. generalization or physiological
improvement would limit any
added value of new robotic
modules, our results support
the notion that generalization
is limited. In order to further
promote motor recovery of
multiple limb segments a
robotic gym is needed, and a
mobile or home-based gym,
to accelerate the translation
of this technology from
“bench to bed to home” is in
short order

2. The correlate between the literatures and my research interest

The development of the automated robotic arm as the assisted in rehabilitation must dealing
with the proper studies in human arm behavior which includes muscular studies and the trajectory of
the human arm in rehabilitation motion in which sometimes the multiple robots are needed for
delivering the therapy to different limb segment and joint for the system developed to become
effectiveness as well as to prevent from any injury [3], Evolutionary Diagonal Recurrent Neural
Network (EDRNN) as example in which the system is used to obtained the network weight of the
human arm that’s were described as a musculoskeletal model with two degree of freedom and six
muscle [1], while the position control via smooth Trajectory (PCST) is the algorithm introduced in
control system in other to perform a smooth trajectory for the system to mimic the rehabilitation
motion [2]

3. Problem Statement:

At present, the rehabilitation treatment done by therapists has several major disadvantages.
The training duration is usually limited by personnel shortages and fatigue of the therapist and not by
the patient. This causes the training session to become shorter than the time required to obtain
optimum therapeutic results. By using automated robot as the assisted arm in rehabilitation, the
duration and the number of training sessions can be optimized. The quality of the sessions also can
be improved by the accuracy of the robot arm in generating movements. Each robotic arm that is
used in rehabilitation will be required to exhibit the properties of a normal human arm in order to be
effective.