Simulation And Modeling Of Hybrid Assistive Robotic Neuromuscular Dynamic Stimulation For Upper Limb Rehabilitation

Hybrid assistive robotic neuromuscular dynamic stimulation (HARNDS) is an integration between functional electrical stimulation (FES) and an exoskeleton. The HARNDS control system has the potential to offer a promising technology for the rehabilitation of post-stroke patients. The design of the HARNDS control system requires good planning to enable safety and comfort for post-stroke patients. However, most FES and exoskeleton integration design procedures do not consider modeling and simulation of the control system as an alternative to testing system behavior to ensure the device can work optimally and meet rehabilitation needs. This article aims to simulate the DC motor based on actuator requirement for exoskeletons used for upper limb rehabilitation in post-stroke patients, as well as the control system model in HARNDS using parameters of the electrical components used in the FES. The control system model approach was carried out using Matlab/Simulink software to model the DC motor control system and Proteus 8 Professional software to model the FES circuit control system. The research results show that the exoskeleton, through the DC motor control system model, has fulfilled the requirements for calculating the torque required as an actuator with a lifting load in flexion/extension movements of 8.88 N.m. and supination/pronation of 0.88 N.m. Meanwhile, the FES circuit used is capable of producing an output voltage signal pattern of 80 VAC with an input voltage of 5 VDC. Thesystem response test shows that the exoskeleton and FES can be used as recommendations for rehabilitation needs in post-stroke patients.