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Design and Implementation of a Multi-Objective Controller for a Home-Based Balance Training Device

Meskaran, Alireza | 2015

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 47060 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Behzadipour, Saeed
  7. Abstract:
  8. Each year from %30 to %60 of the elderlies fall down. %10 to %20 of these incidents result in severe injuries. Aging along with stroke can possibly damage body balance system temporarily or permanently. Therefore, human body balance system improvement and treatment seems necessary. Physical therapy methods relying on assistance require not only physiotherapist presence, but also considerable amount of money and time for both patient and physician. Thus, novel rehabilitation methods that do not require physiotherapist presence can help patients greatly. To do so, an apparatus has been designed that— using force plate— enables mass center detection as well as visual report to patient. The apparatus is able to rotate actively in two perpendicular axes. Using this ability— a unique capability in physical therapy— we can apply different rehabilitation exercises based on patient’s condition. This study is intended to design and implement controllers to help patients maintain their balance while using the rehabilitation apparatus, as well as introduce a wide range of exercises and disturbances during rehabilitation processes. First, we designed and assembled rehabilitation apparatus hardware to read and analyze sensor data, produce and send control signals for relevant adjustments to motor driver. Then, we implemented and specified relative control strategy based on patient deviation from allowable range. The designed system is able to prevent patient pressure center deviation
  9. Keywords:
  10. Proportional-Integral (PI)Controller ; Human Balance ; Body Balance Strategies ; Raspberry Pi Microcontroller ; Body Simulation ; Rehabilitation Device

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