SYSTEM IDENTIFICATION MODELING OF ARM REHABILITATION DEVICES

In this paper, modeling of the arm rehabilitation device using system identification technique is presented. Patients who have post-stroke may lose control of their upper limb. If they are treated with effective rehabilitation training, the patients can restore their upper limb motion functions and working abilities. These rehabilitation devices are used to recover the movement of arm after stroke. Robot assisted therapy systems need three elements which are algorithms, robot hardware and computer system. An accurate system modelling is crucially important to represent the system well. Inaccurate model could diminish the overall control system later on. The objective of this work is to development mathematical modeling of the arm rehabilitation device by using System Identification from experimental data. Several transfer functions are evaluated in order to choose the best performances that represent the system. It must show a good criteria based on the best fitness percentage, stability of the location of poles and zero and also the frequency response characteristics. The derived model is validated via simulation for stability analysis. It is expected that a stable model with an acceptable level of accuracy would be developed for further control system design.