robot

PSZ 19:16 (Pind. 1/07)

DECLARATION OF THESIS / UNDERGRADUATE PROJECT PAPER AND COPYRIGHT

Authors full name : HISYAM BIN ABDUL RAHMAN

Date of birth : 7 MAY 1988

Title : PASSIVE UPPER-LIMB EXOSKELETON ROBOT FOR HAND

REHABILITAION OF STROKE PATIENT

Academic Session: 2010/2011

I declare that this thesis is classified as:

I acknowledged that Universiti Teknologi Malaysia reserves the right as follows:

1. The thesis is the property of Universiti Teknologi Malaysia.

2. The Library of Universiti Teknologi Malaysia has the right to make copies for the

purpose of research only.

3. The Library has the right to make copies of the thesis for academic exchange.

Certified by:

SIGNATURE SIGNATURE OF SUPERVISOR

880507-04-5127 Assoc Prof Dr Rosbi Bin Mamat (NEW IC NO. /PASSPORT NO.) NAME OF SUPERVISOR

Date: 7 MAY 2011 Date:

NOTES: * If the thesis is CONFIDENTIAL or RESTRICTED, please attach with the letter from

the organisation with period and reasons for confidentiality or restriction.

UNIVERSITI TEKNOLOGI MALAYSIA

CONFIDENTIAL (Contains confidential information under the Official Secret Act 1972)*

RESTRICTED (Contains restricted information as specified by the Organisation where research was done)*

OPEN ACCESS I agree that my thesis to be published as online open access (full text)

"I hereby declare that I have read this thesis and in my opinion this thesis is sufficient

in term of scope and quality for award of the degree of Bachelor of Engineering

(Electrical - Mechatronic)"

Signature: __________________

Name of supervisor: ASSOC PROF DR ROSBI BIN MAMAT

Date:

PASSIVE UPPER-LIMB EXOSKELETON ROBOT FOR HAND

REHABILITATION OF STROKE PATIENT

HISYAM BIN ABDUL RAHMAN

A thesis submitted in fulfillment

of the requirements for the award of the degree of

Bachelor of Engineering (Electrical - Mechatronics)

Faculty of Electrical Engineering

Universiti Teknologi Malaysia

MAY, 2011

ii

I declare that this thesis entitled Passive upper-limb exoskeleton robot for hand

rehabilitation of stroke patient" is the result of my own research except as cite in the

reference. The thesis has not been accepted for any degree and is not currently

submitted in candidature of any degree.

Signature : __________________

Name : HISYAM BIN ABDUL RAHMAN

Date :

iii

Specially dedicate to:

My beloved family, lectures and all friends for their external support, encouragement,

and inspiration throughout my journey of education

MAY ALLAH BLESS US

iv

ACKNOWLEDGEMENT

First of all, I would like to thank Allah SWT for giving me strength to

complete this project successfully on time. I would to express my gratitude to my

project supervisor, Assoc Prof Dr Rosbi Bin Mamat who willing to accept me as his

student to carry out my final year project under him. Besides, I would like to thank

Assoc Prof Dr Rosbi Bin Mamat for the passionate guidance and advices he gave

upon me throughout the entire project. It would be difficult to complete this project

without his support and understanding.

However, I wish to deeply indebted to my family member for giving me spirit

along with the support assisting my project and throughout years in UTM. Their

blessings were the main effort for me to overcome all the hardships and obstacles

that I will face. Not forgotten to their hardworking to provide me financial support to

ensure my successfulness in this project.

Next, my sincerest appreciation goes to my friends and especially to my

entire course mate who always giving me valuable guidance, suggestions, kindness

and valuable time during the accomplishment of this project. Lastly I would like to

extend my deep appreciation for the technicians of the laboratory for give me as

much patient and guidance and support to enhance my project. Thank you so much.

v

ABSTRACT

In recent years, the exoskeleton robot has been applied in the areas of

rehabilitation and power assist for daily life. The using of exoskeleton robot in field

of medical is increasing due to increasing of stroke patient. The exoskeleton robot

becomes alternative for rehabilitation of stroke patient due to not enough therapists

available. However, compared to normal rehabilitation, exoskeleton robot is more

attractive because some of the exoskeleton robot provides some attractive vision

system so that the patient did not feel bored during rehabilitation. If compare to

therapist, the patient need to come to the hospital or where the exoskeleton robot

were placed. This thesis is mainly concern on improving the mechanical design. This

project focuses on the basic movement for rehabilitation and method to control the

exoskeleton robot. This project is using C language as the programming language for

microcontroller. There are two methods to control this exoskeleton robot, first is the

manual control and second is automatic control. During the manual control, the user

can set the position due to user condition. Wired remote control is used as the

controller device for control the exoskeleton robot. Display and six buttons are

implemented at the remote control. There also an emergency stop button for this

exoskeleton robot for emergency case.

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ABSTRAK

Sejak beberapa tahun ini, robot Exoskeleton telah dilaksanakan dalam bidang

pemulihan dan kuasa membantu untuk kehidupan seharian. Penggunaan robot

Exoskeleton dalam bidang perubatan semakin meningkat kerana peningkatan pesakit

stroke. Robot Exoskeleton menjadi alternatif untuk pemulihan pesakit stroke kerana

kekurangan terapis. Namun, jika dibandingkan dengan pemulihan biasa, robot

Exoskeleton lebih menarik kerana sebahagian robot Exoskeleton menyediakan

beberapa sistem visual yang menarik sehingga tidak membosankan pesakit semasa

menjalani pemulihan. Jika dibandingkan dengan terapis, pesakit perlulah pergi ke

tempat dimana robot exoskeleton itu ditempatkan. Tesis ini secara utamanya

berfokuskan pada perbaikan desain mekanik. Projek ini memfokuskan pada gerakan

asas untuk pemulihan dan kaedah untuk mengendalikan robot Exoskeleton. Projek

ini menggunakan bahasa pengaturcaraan C sebagai bahasa pengaturcaraan untuk

mikrokontroler. Ada dua kaedah untuk mengendalikan robot Exoskeleton, pertama

adalah dengan kawalan manual dan kedua adalah dengan kawalan automatik. Semasa

kawalan manual, pengguna boleh menetapkan kedudukan bergantung kepada

keadaan pengguna. Kabel remote control digunakan sebagai alat kawalan untuk

mengawal robot Exoskeleton. Paparan dan enam butang dipasangkan pada remote

control. Robot Exoskeleton ini juga mempunyai butang kecemasan untuk kes-kes

kecemasan.

vii

TABLE OF CONTENTS

CHAPTER TITLE PAGE

DECLARATION

DEDICATION

ACKNOWLEDGEMENT

ABSTRACT

ABSTRAK

TABLE OF CONTENTS

LIST OF TABLES

LIST OF FIGURES

LIST OF SYMBOLS AND ABBREVIATIONS

LIST OF APPENDICES

ii

iii

iv

v

vi

vii

x

xi

xiii

xiv

1 INTRODUCTION

1.1 Background

1.2 Problem Statement

1.3 Project Objective

1.4 Project Scopes

1

1

2

3

3

2 LITERATURE REVIEW

2.1 4-DOF Saga University Exoskeleton Robot

2.1.1 Advantages of 4-DOF Saga University

Exoskeleton Robot

2.2 7-DOF Salford University Soft Actuated

Exoskeleton robot

4

4

5

6

viii

2.2.1 Advantages of 7-DOF Salford University

Soft Actuated Exoskeleton robot

2.3 Hand-Wrist Assisting Robotic Device (HWARD)

2.3.1 Advantages of Hand-Wrist assisting robotic

device

2.4 7-DOF Exoskeleton Robot Design: CADEN-7

2.5 Analysis of Previous Exoskeleton Robot

2.5.1 Solution

7

7

8

8

9

11

3 METHODOLOGY

3.1 Hardware Part

3.1.1 Hardware Design Using Computer Aided

Design (AutoCAD 2010)

3.1.2 Motor

3.2 Electronics Design

3.2.1 Sensor

3.2.2 Cytron 40 Pins Start-Up Kit

3.2.3 7-Segment Display

3.2.4 Microcontroller: PIC 16F777

3.2.5 Motor Driver

3.2.6 Wired Remote Control

3.2.7 Power Supply

3.2.8 Interfacing Circuit

3.3 Software Part

3.3.1 Movement Algorithm

12

12

13

15

16

16

17

19

20

22

23

24

26

28

30

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4 RESULT AND ACHIEVEMENT

4.1 Exoskeleton Robot Prototype

4.2 Mechanical Stopper

4.3 Potential Meter

4.4 Exoskeleton Robot Accomplishment

4.5 Typical Human Upper-Limb Movement

4.6 Manual and Automatic Control

4.7 Position Setting

4.8 Mechanical Backbone Support

4.9 Emergency Stop Button

4.10 Sensor Detection

33

33

35

37

38

38

42

43

44

45

45

5 DISCUSSION AND CONCLUSION

5.1 Discussion

5.2 Suggestion and Future Development

5.3 Conclusion

46

46

47

49

REFERENCES 50

APPENDICES

APPENDIX A

APPENDIX B

APPENDIX C

52

52

53

56

x

LIST OF TABLES

TABLES NO. TITLE PAGE

1.1

2.1

Analysis of Previous Exoskeleton Robot

Power Supply Specification

9

25

3.1 Mode Selection and Description 38

3.2 Result of the Exoskeleton Robot 39

3.3 Type of Movement 40

xi

LIST OF FIGURES

FIGURES NO. TITLE PAGE

2.1 4-DOF Saga University Exoskeleton Robot 4

2.2 7-DOF Salford University Soft Actuated

Exoskeleton Robot

6

2.3 Hand-Wrist Assisting Robotic Device (HWARD) 7

2.4 CADEN-7 8

3.1 (a) Isometric view. (b) Back view 13

3.2 Front View 14

3.3 Left View 14

3.4 Power Window Motor 15

3.5 Limit Switch 16

3.6 Potential Meter 16

3.7 Cytron 40 Pins PIC Start-Up Kit 17

3.8 SK40C Board Layout 18

3.9 7-Segment Display and BCD 45HC11 19

3.10 PIC16F777 Pin Diagram 20

3.11 Motor Driver Circuit Connection 22

3.12 Assembled Motor Driver 23

3.13 Wired Remote Control 23

3.14 Power Supply 25

3.15 Modified Power Supply 26

3.16 Interfacing Block Diagram 27

3.17 Interfacing Circuit 28

xii

3.18 MikroC PRO Interface 29

3.19 Movement algorithms 30

4.1 Exoskeleton Robot Front View 34

4.2 left view 34

4.3 Back View 35

4.4 Without Mechanical Stopper 36

4.5 With Mechanical Stopper 36

4.6 Potential Meter Coupling 37

4.7 Motor Shaft with Wing Bolt 37

4.8 Remote Control 39

4.9 Elastic String 42

4.10 Back Bone Support 44

4.11 Emergency Stop Button 45

xiii

LIST OF SYMBOLS AND ABBREVIATIONS

ADC Analog-to-Digital Converter

DIY Do It Your Self

HWARD Hand Wrist Assisting Device

LED Light Emitting Diode

Li-Po Lithium Polymer

PWM Pulse Width Modulation

DOF Degree of Freedom

CR Center of Rotation

PMA Pneumatic Muscle Actuators

MCP Metacarpal

CAD Computer Aided Design

DC Direct Current

MCU Microcontroller Unit

PIC Programmable Integrated Circuit

BCD Binary Code Decimal

MAX Maximum

xiv

LIST OF APPENDICES

APPENDIX NO. TITLE PAGE

A

B

C

Human upper-limb segment

Schematic circuit diagram

Programming

52

53

56

1

CHAPTER 1

INTRODUCTION

1.1 BACKGROUND

The exoskeleton robots have been used in the industry for military and

medical application. In recent years, the exoskeleton robots have been applied in

the areas of rehabilitation and power assist for daily activity. The use of

exoskeleton robot is increasing in the areas of rehabilitation in the hospital in

which the number of physically weak such as stroke patients is increasing.

Active exoskeleton robots were studied for the purpose of industry or

medical applications in the 1960s and 1970s [1]-[2]. In addition, some

exoskeleton robots were proposed to extend the strength of the human force [3],

in early 1990s. In recent years, many active upper-limb exoskeleton robot

systems [4]-[6] have been proposed for rehabilitation and power assist.

2

The passive term in this project title is because the robot move the hand

for hand exercise or rehabilitation while the active term is the robot assists the

hand for human assisted power. The passive upper-limb exoskeleton robot

structure is the same as the active upper-limb exoskeleton robot structure. The

different is on the algorithm and some of the sensor. The passive upper-limb

exoskeleton robot is suitable for stroke patient to help them exercise to regain

their hand function again.

The difficulty of the upper-limb exoskeleton robot is on the mechanical

design because the upper-limb structure is complex than lower-limb structure

(leg). So these projects have reviewed some of the active upper-limb exoskeleton

robot so that the passive upper-limb exoskeleton robot can be developed.

1.2 PROBLEM STATEMENT

Nowadays too many stroke patient come to the hospital to get therapy.

The regain their hand function again, the patient required to do the hand exercise

for 15 minute every one hour. The therapist at the hospital is not enough to

handle the patient if the patient is too many. If the therapist monitor the patient

during the rehabilitation process, it might take a long time to regain the hand

function again because the patient need to wait long time to get the rehab from

the therapist.

So this project might help the therapist to handle the patient to regain

their hand function again. This robot can operate automatically so that the

therapists just monitor the patient while the therapist handles the other patients.

3

1.3 PROJECT OBJECTIVE

The objectives of this project are as below:

I. To design an upper limb exoskeleton robot for hand rehabilitaion for

stroke patient with manual and automatic control.

II. Set the position of hand movement according to the patient condition.

1.4 PROJECT SCOPE

The scopes of this project are as below:

I. To implement the upper-limb exoskeleton robot which consist three

degree of freedom (3DOF) for shoulder, upper arm and forearm.

II. Focus on right hand upper-limb movement:

Shoulder extension/flexion.

Shoulder adduction/abduction.

Elbow extension/flexion.

Forearm supination/pronation.

4

CHAPTER 2

LITERATURE REVIEW

This chapter describes the literature review which is related to this

exoskeleton robot project. All of the information about the exoskeleton robot has

been studied from different resources to perform this project.

2.1 4-DOF SAGA UNIVERSITY EXOSKELETON ROBOT

Figure 2.1: 4-DOF Saga University Exoskeleton robot

5

A 4DOF active exoskeleton robot [4] with moving center of rotation (CR)

mechanism [9] have been projected in Saga University to assist shoulder vertical

flexion/extension, shoulder horizontal flexion/extension, elbow flexion/extension

and forearm supination/pronation motions. This exoskeleton robot was installed on a

mobile wheel chair since many disable persons use it, so that the user does not feel

the weight of the exoskeleton robot at all. The human upper-limb is complex, so this

project developed a mechanism to provide the movement of upper-limb. A special

moving CR mechanism was proposed for the shoulder joint of the exoskeleton robot.

The mechanism design prevents the ill effects caused by the position difference

between the CR of the robot shoulder and the human shoulder. Mechanical stoppers

have been attached for each single motion to prevent exceeding of movable range for

safety and precaution. The position of the movable range of the robot can be set so

that the user more comfortable with the robot [4].

2.1.1 ADVANTAGES OF 4-DOF SAGA UNIVERSITY EXOSKELETON

ROBOTS:

I. The mechanism cancels out the ill effects caused by the position

difference between the CR of the robot shoulder and the human shoulder.

II. Mechanical stoppers have been attached for each individual motion to

prevent exceeding of movable range for safety.

6

2.2 7-DOF SALFORD UNIVERSITY SOFT ACTUATED

EXOSKELETON ROBOT

Figure 2.2: 7-DOF Salford University Soft Actuated Exoskeleton robot

The 7DOF exoskeleton robot was developed by Tsagarakis and Caldwell for

upper arm training and rehabilitation. This robot is able to generate motions of

shoulder flexion/extension, abduction/adduction, internal/external rotation, elbow

flexion/extension, forearm supination/pronation, wrist flexion/extension and

radial/ulnar deviation.

This project focus on the soft actuated which is the actuator that this

project use is pneumatic muscle. Therefore, the fulfillment control is allowed by the

robots antagonistic action. This exoskeleton robot was using pneumatic muscle as

an actuator because to have a high power/weight ratio and safety due to the inherent

compliance. Two layered cylinder has been designed by pneumatic Muscle

Actuators (pMA).The structure of the muscles gives the actuator a number of

desirable characteristics. An appropriate antagonistic torques through cable and

pulley driven by the pneumatic actuators has been design so that the joint motion

/torque for the rehabilitation and training can be achieved [5].

7

2.2.1 ADVANTAGES OF 7DOF SALFORD UNIVERSITY SOFT

ACTUATED EXOSKELETON ROBOT:

I. Safety and human soft interaction which provides a soft

feeling in human manipulation.

II. Low mass and excellent power/weight ratio.

2.3 HAND-WRIST ASSISTING ROBOTIC DEVICE (HWARD)

Figure 2.3: Hand-Wrist Assisting Robotic Device (HWARD)

Hand Wrist Assisting Robotic Device (HWARD) was developed by

Cramer et al. in 2007. This exoskeleton robot has 3DOF to exercises and training

grasping and releasing movements using real objects during therapy. This is

achieved by providing a clear palm area where different objects can be

implementing for interaction during training. This project was using pneumatic

actuated desk mounted exoskeleton that supports the patients arm and is attached

on the thumb and fingers. This type of actuator can bend or extend all 4 fingers

together about the metacarpal (MCP) joint, the thumb at the MCP joint and the

8

wrist. This exoskeleton robot provides the joint angle sensors in the structure to

measure the movement of the exoskeletons joints, and hence, movement of the

patients limbs [6].

2.3.1 ADVANTAGES OF HAND-WRIST ASSISTING ROBOTIC

DEVICE (HWARD):

I. An emergency stop button to stop the movement and move to

default position.

II. Provide the angle sensors for movements and safety.

2.4 7-DOF EXOSKELETON ROBOT DESIGN: CADEN-7

Figure 2.4: CADEN-7

Figure 2.4 shows the active exoskeleton robot that consist 7 DOF. This

system can generate the motion of shoulder extension/flexion,

abduction/adduction, internal/external rotation, elbow flexion/extension, forearm

supination/pronation, wrist flexion/extension and radial/ulnar deviation using the

9

complex mechanical design. For this project, the difficulty is to match the human

arm with the mechanical joint range that provide by CADEN-7. For the safety

system, this project implemented the mechanical stopper and emergency stop

button. This safety system is important to prevent the user from any dangerous

condition [8].

2.5 ANALYSIS OF PREVIOUS EXOSKELETON ROBOT

Regarding the three project in the literature review, there have some limitations

of each project.

Table 1.1: Analysis of Previous Exoskeleton Robot

4-DOF Saga University

Exoskeleton robot

>Didnt have emergency stop

button.

>Limited for shoulder, forearm

and elbow only.

10

7DOF Salford University Soft

Actuated Complex mechanical

design.

> User needs to stand.

> Didn't have mechanical stop.

3DOF Hand-Wrist Assisting

Robotic Device (HOWARD)

>Focus on wrist only.

>Higher force to assist the grasp.

7DOF Exoskeleton Robot

Design: CADEN-7

>Complex mechanical design.

>User needs to stand.

11

2.5.1 SOLUTION:

I. Combine the four projects into one project which is focus on

shoulder, forearm, elbow and grasping and releasing movement.

II. Simplify the mechanical design and the degree of freedom.

III. Install the robot on the chair so that the user not feels the weight of

the exoskeleton robot.

IV. Install the emergency stop button to stop all the movement.

V. Install the mechanical stopper for each movement.

12

CHAPTER 3

METHODOLOGY

This chapter describes the methodology and approach taken in the

project. Methodology of this project is divided into three parts. The first part will

explain about the hardware part, second will touch about electronics part and

lastly will explain about the software part.

3.1 HARDWARE PARTS

Choosing the suitable hardware is crucial in determining the best design

for this project. In this part, the structural design and hardware component that

are used in construct the passive upper-limb exoskeleton robot will be discussed.

13

3.1.1 HARDWARE DESIGN USING COMPUTER AIDED DESIGN

(AUTOCAD2010)

The base for this robot must be strong enough to handle the stroke

patient, so the steel chair and sponge at the seat were used. The base should also

be able to suit for all type of weight and size of the user. The structure of the

robot will be using the aluminums plate with the thickness of 5mm. This

aluminum is strong enough to handle the users hand. Figures 3.1 (a) and (b)

below are the illustrations of the mechanical design of exoskeleton robot

developed.

(a) (b)

Figure 3.1: (a) Isometric view. (b) Back view

Figure 3.1 (b) shows that where circuit will be placed. The main reason to

place the circuit at the back is because for the safety of the user and it also make

the therapist easier to handle and monitor the patient. Figure 3.2 show the front

view of the robot. The yellow spherical is the squeeze ball. It is for the patient to

train the grasp and release exercise. The squeeze ball will be attached to the

aluminum that bended 90 degree and at the end of the aluminum, there are some

14

string. The main reason of using the string for tighten the aluminum is so that it

is flexible during the movement.

Figure 3.2: Front view

Figure 3.3: Left view

15

3.1.2 MOTOR

Motor is one of the important parts for this project as an actuator. For this

project, the motor must have higher torque because it needs to handle the user

hand and to move the users hand and to hold the robot itself. The suitable motor

for this project is DC motor. After the research of the type of DC motor, type of

motor that suitable on this project is power window motor because it have higher

torque and low cost. Figure 3.4 is the power window that will be used.

One of the features that very important for this motor is high torque. This

higher torque motor cannot move manually because the internal gearing system.

So after the motor move by the supply voltage at some position, the movement

should be stop. This type of motor not allowed the robot to move back during

take up the robot hand. The robot hand part is very heavy, so type of motor can

avoid the robot hand to turn down the robot hand.

Figure 3.4: Power Window Motor

16

3.2 ELECTRONICS DESIGN

Choosing the suitable electronics part is also one of the important things

on this project. Several electronics component are used for specific reason such

as display the selection movements, controller for the robot and the sensor.

3.2.1 SENSOR

Figure 3.5: Limit Switch Figure 3.6: Potential Meter

Figure 3.5 and Figure 3.6 show the sensors that will be used in this

project. The usage of this sensor is to protect the users hand from moving

exceeding the limit of human hand movement. The sensor is very important for

this project because if there is no sensor, the robot might be moved the users

hand beyond the limit and that will cause some damage or broke the hand. So

using two sensors is safer for the user [7].

17

3.2.2 CYTRON 40 PINS PIC START-UP KIT

Figure 3.7: Cytron 40 Pins PIC Start-Up Kit

This PIC start-up kit was developed by Cytron Company for ease of the

microcontroller unit (MCU) user. this PIC start-up kit will ease the user because

all the component are already in the connection such as crystal, 5.0V regulator

and the socket for the voltage supply and the user can directly use this start-up kit

as main board. The input output pins are already labeled to avoid misconnection

by user. to power up this start-up kit, there have three method; first by directly

plug in the start-up kit using USB to computer, second by using DC power

adapter between 7V to 15V, and the last method is by directly connect an input

voltage such as battery. ICSP programmer is needed to program the

microcontroller (PIC16F777) and must be connected to the ICSP connector of

the start-up kit. For this project, an ICSP programmer from cytron, UIC00A was

used to program the microcontroller [7].

18

Figure 3.8: SK40C Board Layout

For the main circuit, the output voltage from SK40C circuit is around

4.5V to 4.7V. So to make the supply voltage is always 5V, the external voltage

regulator circuit was developed. This is because some of the electronic circuit

will not stable with 4.5V. The internal voltage regulator from the SK40C is use

as standby power supply. The external voltage regulator circuit is use as main

power supply.

19

3.2.3 7-SEGMENT DISPLAY

Figure 3.9: 7-Segment Display and BCD 45HC11

Figure 3.9 shows that the common cathode 7-segment displays that will

be use at this project. The purpose of this 7-segment display in this project is to

display time for user because the rehabilitation did not focus on how many tries

exercise are, but how long in time the exercise is. The limit for exercise is

between 10 to 15 minutes. To reduce the connection to main circuit

(PIC16F777), the BCD chip need to be used so that the connection can be

reduced from 8 to 4, at the same time, the use of the BCD chip make the program

become easier. The BCD chip converts the binary to decimal value. This 7-

segment display has been attached at the remote control circuit as shown in

Figure 3.13.

20

3.2.4 MICROCONTROLLER: PIC16F777

In this project, PIC16F777 will be using as the controller of the

exoskeleton robot as shown in the Figure 3.10. This type of microcontroller is a

combination of a microprocessor, memory, input and output port and some

special functions. The main function of the controller is to control the process of

the exoskeleton robot movement and to process the feedback from the sensors

give command to the actuator to perform the movements. It acts as the brain for

the exoskeleton robot where it controls all the exoskeleton robot behavior. The

other type of controller also have the same features, but this project require 3

PWM mode because this project uses 3 motors to make the movement of

rehabilitation, so this type of controller full fill the requirement.

Figure 3.10: PIC16F777 Pin Diagram

21

The microcontroller acts as a brain of this robot and will make the

decision has been programmed to perform for any case occurs. Below is the

specific task for the microcontroller to perform:

I. Motor control

Rehabilitation has some movements to exercise, so the

microcontroller will control the motor clockwise or anticlockwise.

Since this project contains 3 motors, so the controller need to select

the motor that will be move at one time.

II. Position setting

During the movement of the robot, some positions need to be set

by the microcontroller. The microcontroller needs to memorize the

position so that the movement is between that positions only if there

is any changes of the position.

III. Sensor reading

The sensor will send the signal to the microcontroller. The type of

signal is either analog or digital. For this exoskeleton robot,

microcontroller will receive both types of signals. The digital signal is

from the limit switch and the analog signal from the potential meter.

This analog signal will be converted to digital signal using internal

Analog-Digital-Convertor (ADC) from the microcontroller before it is

processed. For limit switch sensor, the signal is already in digital

form, so it is not necessary to convert it using ADC.

22

3.2.5 MOTOR DIVER

To drive the motor, it cant directly be connected to the microcontroller

because the current required for the motor is higher than current flow to

microcontroller. So the motor driver is needed to drive the motor. Since the

power window is operate at starting current of 1.5 Ampere are, motor driver is

needed to regulate the requirement current to drive the motor.

For this exoskeleton robot, the motor driver that are used is consists of

relays with up to 10 Ampere, MOSFET (IRFZ44N) and transistor (BC547).

Since this exoskeleton robot used 3 motors, so it needs 3 motor drivers. The

circuit connection of the motor driver is shown in Figure 3.11:

Figure 3.11: Motor Driver Circuit Connection

The features of this motor driver are; support high current up to 10

Ampere and can control the speed of motor using MOSFET. This type of motor

driver also can control bidirectional which is clockwise and anticlockwise. Every

23

motor diver required 2 relays, 1 MOSFET and two transistors. The function of

transistor is to switch the current flow through the relay. Its like on off switch

for the relay.

To indicate the current flow through the relay, LED is place in series

between microcontroller and transistor. When the LED is light on, that mean the

transistor is allowing the current flow through the coil inside the relay and it will

switch on the relay if the supply voltage is connect to normally close pin.

Figure 3.12: Assembled Motor Driver

3.2.6 WIRED REMOTE CONTROL

Figure 3.13: Wired Remote Control

24

Figure 3.13 show that the remote control circuit. This remote control is

the interface between the 7-segment displays, button and microcontroller. The

data send from the button will be in digital signal and it is wired by ribbon cable.

Data from microcontroller also will send in digital signal through ribbon cable to

7-segment displays and to LEDs.

The use of this remote control is to control the movement of the

exoskeleton robot. In addition, this remote also can select the mode of movement

which is for shoulder, upper-arm and forearm. There has 2 buttons for movement

control, 1 button for mode selection, 1 button for position setting, 1 button for

automatic mode and the small button is for emergency stop. The emergency

button was connected to master clear pin at the microcontroller. The function of

the emergency button is for safety features. The design of this remote control is

user friendly for the therapist to train the patient.

The function of the LED is to indicate during the mode selection. The red

LED will turn on when mode 1 was selected which is for shoulder movement,

yellow LED is for mode 2 indicator which is for upper-arm movement and the

green LED is for mode 3 indicators which are for forearm movement.

3.2.7 POWER SUPPLY

Computer power supply is being used in this project rather than lithium

polymer (Li-Po) batteries because of the upper-limb exoskeleton robot design

and the characteristic of the power supply itself. In this project the exoskeleton

robot designed not to be moved, so it is more suitable to use the computer power

25

supply rather than battery. This project required several stable input voltages and

high current to operate the exoskeleton robot.

The microcontroller and 7-segment display required 5V input voltage and

the actuator required 12V input voltage. Since the power window motor require

high current, this type of power supply is suitable to supply the high current

requirement of the motor. The specifications of the power supply are shown in

Table 2.1.

Figure 3.14: Power Supply

Table 2.1: Power Supply Specification

AC~ INPUT

VOLTAGE CURRENT FREQUENCY

115V~

230V~

10A

5A 50-60HZ

DC ==

OUTPUT

3.3V 5V 12V 5V 12V 5Vsb PS-ON POK COM

28A 40A 20A 0.5A 0.8A 2.0A REMOTE P.G. RETURN

MAX 250W 240W 2.5W 9.6W 10W

TOTAL MAX POWER 450W MAX 427.9W MAX 22.1W

26

This type of power supply cant be used directly because the ground

connection is on the open circuit. So the ground needs to be connected first. This

power supply has been modified so that it will have on off switch and two 12V

output connector.

Figure 3.15: Modified Power Supply

3.2.8 INTERFACING CIRCUIT

Interfacing circuit is a circuit to interface the microcontroller circuit with

other circuits. Below is the block diagram for interfacing circuit:

TWO 12V

CONNECTOR ON-OFF

SWITCH

SWITCH

INDICATOR

27

Figure 3.16: Interfacing Block Diagram

The interfacing circuit for this project is at the main board where the PIC

KIT SK40C has been attached. On the right side, the components need to go

through interfacing circuit first before being connected to microcontroller circuit.

At the same time, the power supply will be distributed at the interfacing circuit.

Interfacing circuit makes the circuit design become more systematic.

When there have some new connection or we want to modify the connection of

the circuit, we just need to modify the interface circuit only so this will reduce

the complexity to debug all circuits.

INTERFACING

CIRCUIT

MICROCONTROLLER

DISPLAY BUTTON

SENSOR

MOTOR

REMOTE

CONTROL

POWER SUPPLY

28

Figure 3.17: Interfacing Circuit

3.3 SOFTWARE PART

Software part is where the program of the exoskeleton robot will be

designed. Apart from the hardware and electronic design, software design is

important to control the operation of hardware through circuit. In the software

design, C language, MICRO C PRO and PICkits tool are used. C language is

used since PIC16F777 support the C language. However, it is easy to write the

program and use it. Figure 3.18 is MicroC PRO interface.

Interface with

remote control

Interface with

potential meter

Interface with

limit switch

29

Figure 3.18: MikroC PRO Interface

There are three main parts of the MICRO C PRO. The first part that is

located at the left side of the interface shows the code explorer. This window

eases the user by giving a clear view of every declared item in the source code.

The second part is the code editor which is the largest window and main window

where the user writes the C code that will be program to the microcontroller and

the third part is the error window located at the bottom of the interface. This

window will display locations and type of errors compiler has encountered.

Figure 3.19 is the algorithms flow chat that show how the program of the

exoskeleton robot work. The actual program can be review at the appendix.

30

3.3.1 MOVEMENT ALGORITHM

Figure 3.19: Movement Algorithm

Start

Mode selection 1 - 3

Execution

Mode 2 Mode 1 Mode 3

Push button

up

Push button

down

Push button

set position

Position

set

Motor1 rotate

clockwise

Limit switch 1 Stop motor1

Position set Set position

Position

set

Motor1 rotate

anticlockwise

Limit switch 2 Stop motor1

31

Figure 3.19: Movement Algorithm, continue

Mode 2

Push button up

Push button

down

Push button

set position

Position set Motor2 rotate

anticlockwise

Limit

switch 3 Stop motor2



clockwise

Limit


Start

32

Figure 3.19: Movement Algorithm, continue

Mode 3

Push button up

Push button

down

Push button

set position


anticlockwise

Limit




clockwise

Limit


Start

Push button

auto mode Count

33

CHAPTER 4

RESULT AND ACHIEVEMENT

This chapter discusses the result of the project and several problems faced

during the process of testing the exoskeleton robot.

4.1 EXOSKELETON ROBOT PROTOTYPE

In this chapter, the results and achievement of the project is discussed.

This design is slightly different from the design in the previous chapter because

during the construction of this real prototype, there are some factors that must be

consider such as the placement of the motor, limit switch, placement of

mechanical stopper and the potential meter. Figure 4.1, 4.2 and 4.3 below shows

the fabricated of robot hand structure from different side of view.

34

Figure 4.1: Exoskeleton Robot Front View

Figure 4.2: left view

35

Figure 4.3: Back View

As mentioned in previous chapter, the circuit is placed at the back of the

chair because this is the safe place to avoid the user from the electrical shock.

This prototype is focus on the patients right hand movement.

4.2 MECHANICAL STOPPER

Mechanical stopper is one of the safety features that must be installed on

this type of robot because this is the last part of stopping the motor from

continuous movement if the limit switch and the potential meter break down.

36

Figure 4.4 show the forearm part without mechanical stopper. During this

session, there is no connection to the motor, so the forearm part will move freely.

Figure 4.4: Without Mechanical Stopper

From the figure 4.4, we can see that the forearm part is at the unsafe

condition. If the user place the hand and start the movement, the user hand will

broke. The placement of the mechanical stopper is important in this exoskeleton

robot. The following figure shows the forearm part with mechanical stopper. The

mechanical stopper has made by installed the screw on the forearm part so during

some position, the screw will hit the upper arm part and automatically the

forearm part will stop moving.

Figure 4.5: With Mechanical Stopper

No

connection

for the

motor

Mechanical

stopper

37

4.3 POTENTIAL METER

These exoskeleton robots have been used the potential meter for position

setting. However, this type of potential meter dint have the coupling to the motor,

so I need to design the potential meter coupling so that the rotation of the motor

will be detect by rotation of potential meter. This potential meter has been

installed at the shaft of the motor. This is because the shaft of the motor is at the

center of the rotation. So the flexible bracket is used so that the potential meter is

movable. This is because to screw the bolt to the motor shaft, there must be no

connection between the shaft, so with the flexible bracket, the potential meter can

move away from the shaft and after screwed the shaft, the potential meter must

be connect to the wing bolt that have been modified to have the place for

potential meter. Figure 4.6 and 4.7 shows that the coupling of the potential meter.

Figure 4.6: Potential Meter Coupling

Figure 4.7: Motor Shaft with Wing Bolt

Shaft of the

motor without

bolt

38

4.4 EXOSKELETON ROBOT ACCOMPLISHMENT

The exoskeleton robot achieved the objective where it is able to perform

the basic typical human movement and grasp, set the position and it also can

perform automatic movement. In more details, the robot hand is able to achieve 8

types of movement and they are categorized into 1-3 modes as shown in the

Table 3.1.

Table 3.1: Mode Selection and Description

MODE SELECTION DESCRIPTION OF THE PERFORMANCE

Mode 1 Shoulder movement

Mode 2 Upper arm movement

Mode 3 Forearm movement

During every mode Grasp and forearm movement

4.5 TYPICAL HUMAN UPPER-LIMB MOVEMENT

This robot hand is able to perform certain typical human movement such

as shoulder adduction and abduction, upper arm extension and flexion, forearm

extension and flexion. Table 3.2 below shows the result of the exoskeleton robot.

39

Table 3.2: Result of the Exoskeleton Robot

TYPE OF MOVEMENT CAPABILITY

Shoulder adduction

Shoulder abduction

Upper arm flexion

Upper arm extension

Forearm flexion

Forearm extension

Forearm supination

Forearm pronation

Grasping

Besides, the ways to control the movement task of this exoskeleton robot

can be categorized into two types and they are manual type control and automatic

type control. The manual type control is for every mode and the automatic mode

is for mode 3 only. Figure 4.8 below shows the remote control of this

exoskeleton robot.

Figure 4.8: Remote Control

Mode change

button

Auto mode

button

Position set

button

Emergency

stop button

Interface with

interfacing circuit

7-segment

display

Down

movement

button

Up

movement

button

Mode 1

indicator

(red LED)

Mode 2

indicator

(yellow LED)

Mode 3

indicator

(green LED)

40

Table 3.3: Type of Movement

Type of movement Result of exoskeleton robot

Shoulder movement

Upper arm movement

41

Table 4.3: Type of Movement, continue

Forearm movement

Forearm movement and grasping

method

42

However, during shoulder and upper arm movement, the length of the

exoskeleton robot become longer than user hand, this is because the center of

rotation between user and exoskeleton robot is slightly different. So to overcome

this from happening, some flexible material has been installed at the forearm.

Figure 4.9: Elastic String

For the grasping exercise, the squeeze ball was used. The squeeze ball is

one of the resistance exercise which mean when we squeeze the ball, the ball will

produce reaction force to resist the human squeeze force. For the normal person,

the ball is nothing because the normal person has enough strength to squeeze the

ball, but for stroke patient there must strangle to squeeze the ball.

4.6 MANUAL AND AUTOMATIC CONTROL

Manual control has been program for three modes which is mode one for

shoulder movement, mode two for upper arm movement and mode three for

forearm movement. For the upper arm movement, there have some problem

Elastic string

43

occur which is the speed of the movement for take up and pull down the upper

arm cant be controlled due to heavy load. The upper arm part needs to be

supplied with high value of PWM because the motor cant take up the heavy

load. So the PWM supply value is constant. For the others movement, this

exoskeleton robot can properly perform the task.

For this project, the automatic control is focused on the forearm

movement due to this part did not have any load problem. The automatic control

has been programmed to perform forearm flexion and extension movement.

During the automatic control, this system can display and counting from 9 to 0

which is equivalence to ten seconds. The automatic control will be started if the

users pushed the button auto mode button in mode three. The system will start

counting just after the user push the auto mode button. After ten second the

forearm movement will stop automatically.

4.7 POSITION SETTING

Position setting is one of the main objectives for this project. This

objective is applied at the mode three of this project which is forearm movement.

The position setting is actually set by the analog potential meter where the

potential meter has been attached at the shaft of the motor. The user needs to

make some movement first and stop wherever the user wants to stop then push

the set position button. After set the position, the user can start make some

movement as usual but the movement now is limited from the forearm is in

straight position until where the position that has been set to stop. If the user

needs to make some changes to the position, the user need to push the reset

button and select mode three again and start to set the position. This system has

44

been proposed due to different ability of user. Some user has different position

that they can handle. So with this system, any type of user can use this

exoskeleton robot.

4.8 MECHANICAL BACKBONE SUPPORT

This robot is focus on the right hand side only. So this exoskeleton robot

needs external support so the material of the exoskeleton robot will not be

bending. Ten millimeter hollow aluminum has been use as the back bone of this

exoskeleton robot. Figure 4.10 shows the back bone supports. The place where

the back bone is placed is the best place because the back bone support from the

top of the exoskeleton robot. So the exoskeleton robots will not bending due to

heavy load that the exoskeleton robot need to handle. However, some part there

did not have the support, so this can be implementing in the future development.

Figure 4.10: Back Bone Support

Back bone

support

45

4.9 EMERGENCY STOP BUTTON

Emergency stop button is connected directly to the MCLR pin at the

microcontroller. This is because when the MCLR pin is low, the whole system is

reset and back to the initial condition. The initial condition for this project is at

the no mode condition which is no mode has been selected yet. There have two

stop button at this exoskeleton robot, one is at the wire remote control and the

other one is at the PIC start up kit that provided by Cytron.

Figure 4.11: Emergency Stop Button

4.10 SENSOR DETECTION

Sensors would ensure that the user is in safe condition when user makes

some movement from this exoskeleton robot. Every movement of this

exoskeleton robot has been installed with limit switched. The limit switch

position is the exactly where it should be. The entire limit switch is well

functioning.

Emergency

stop button

46

CHAPTER 5

DISCUSSION AND CONCLUSION

5.1 DISCUSSION

Based on the outcome, achievement and the comment from the lecturer

and other students, the weight of the exoskeleton robot itself is the obvious

problem faced in this project. The main root of cause is the use of actuator.

Power window motor is quite heavy compared to other DC motor, but yet the

performance of this power window is better than other DC motor from the torque

specification. Power window DC motor has higher torque than other normal DC

motor. Meanwhile, due to the structure of the exoskeleton robot, the exoskeleton

robot is not capable to control the speed of the movement. Although the power

window is higher torque DC motor, this type of motor have specific value of

weight that can be handle.

47

The other factors that increase the weight of this robot are the material

using in this exoskeleton robot. The material to implement this robot is 3mm

thickness aluminum. In this project, to overcome this kind of weight, a lot of

holes to reduce the weight are made. The direct shaft connection cant be

implemented if the load is too heavy. To overcome this problem, there must be

using belting method or use the muscle actuator. The mechanical design need to

be changed so that it can implement the belting or muscle actuator.

Apart from that, center of rotation problem is also one of the inadequate

in this exoskeleton robot project as the center of rotation is slightly different than

human hand. This issue can be clarified by the mechanical design of the

exoskeleton robot. Since the upper limb is complex joining, the mechanical

design also complex to design. The size of the power window is too big so that

will affect to design the center of rotation of the human hand. Choosing the

correct size and specification is one of important thing before implement the

design. The type of motor must successfully fulfill the requirement of the design

which is small size and higher torque until can handle the heavy load.

5.2 SUGGESTIONS AND FUTURE DEVELOPMENT

From the observation, there are several improvements that can be made to

this exoskeleton robot:

48

I. Implement The Gearing System

Gearing system will increase the specification of the DC motor in

the aspect of higher torque. Gearing system is one way to

accommodate the heavy load. By implement this system into this

exoskeleton robot, the movement of the robot will be smooth.

II. Reduce The Weight

The total weight of this robot is too heavy. Some movement not

moves smoothly. The total weights of this robot are including the

motor and the material used in this project. By selecting the

lighter material such as high quality plastic and select the suitable

size and type of motor can reduce the total weight of the robot.

III. Replace The Potential Meter With Digital Encoder

Encoder will make the system more intelligent. By adding the

digital encoder, the response of the system will be faster. This is

because this robot is interacting with the human, every movement

need faster response.

IV. Replace The Upper Arm With Flexible Material

The flexible part will make this robot more flexible to everybody,

because every person has different length of their hand. So with

49

this type of feature, the robot can fit for everybody whatever their

hand length.

V. Choose The Suitable Type of Actuator

The type of actuator is one of the important things for this project.

This project needs to handle the weight of the robot itself and also

the hand of the user. So the total weight is become heavier and

need the high specification from the actuator. The appropriate

types of actuator are hydraulic and pneumatic system. Hydraulic

and pneumatic can support the heavy load. This system also can

control the speed of the movement of the robot where this system

need slow movement but constant speed.

5.3 CONCLUSION

The main objective of this project is to design an upper limb exoskeleton

robot for hand rehabilitation for stroke patient has been developed with manual

and automatic control and to set the position of the movement due to the patient

condition has been achieved. The robot can set the position correctly and make

the movement properly. But, several improvements still can be made in the

future.

50

REFERENCES

[1] Cloud. W, Man Amplifiers: Machines that Let You Carry a Ton, Popular

Science, vol. 187, no. 5, pp. 7073, 1965.

[2] Mosher. R. S, Handyman to Hardiman, Society of Automotive Engineers

Publication, MS670088, 1967.

[3] Benjuya. N, and S. B. Kenney, Hybrid Arm Orthosis, J. Prosthetics Orthotics,

vol. 2, no. 2, pp. 155-163, 1990.

[4] Kiguchi. K, Active Exoskeletons for Upper-Limb Motion Assist, J. Humanoid

Robotics, vol. 4, no. 3, pp. 607-624, 2007.

[5] Tsagarakis. N. G, and Caldwell. D. C, Development and Control of a Soft-

Actuated Exoskeleton for Use in Physiotherapy and Training, J. Autonomous

Robots, vol. 15, pp. 21-33, 2003.

[6] Cramer. S. C, Takahashi. C. D, Der-Yeghiaian. L, See. J, Motiwala. R. R, and

Le. V, Robot-Based Hand Motor Therapy after Stroke, in Proc. Int. Stroke

Conf., 2007.

[7] Cytron. (n.d.). Retrieved December 2009, from http://www.cytron.com.my

[8] Perry. J. C, Rosen. J, and Burns. S Upper-Limb Powered Exoskeleton Design,

IEEE/ASME Trans. on Mechatronics, vol. 12, no. 4, pp. 408-417, 2007.

51

[9] Kiguchi. K, Iwami. K, Iwami. M. Iwami, Watanabe. K, and Fukuda. T, An

Exoskeletal Robot for Human Shoulder Joint Motion Assist, IEEE/ASME

Trans. on Mechatronics, vol. 8, no. 1, pp. 125-135, 2003.

52

APPENDICES

APPENDIX A

HUMAN UPPER-LIMB SEGMENT

Human Upper-Limb Motion

Shoulder Elbow Forearm

53

APPENDIX B

SCHEMATIC CIRCUIT DIAGRAM

MAIN BOARD

54

MOTOR DRIVER

55

REOMOTE CONTROL

56

APPENDIX C

PROGRAMMING

/*******************************MOTOR1***************************/

#define pwm1 CCPR3L

#define m1L PORTD.F4

#define m1R PORTD.F5

/*******************************MOTOR2***************************/

#define pwm2 CCPR1L



/*******************************MOTOR3***************************/

#define pwm3 CCPR2L



/*******************************BCD*******************************/

#define bcdA PORTC.F7 //LSB

#define bcdB PORTC.F6

#define bcdC PORTC.F5

#define bcdD PORTC.F4 //MSB

/******************************BUTTON******************************/

#define swas PORTB.F0 //switch angel set

#define swstrt PORTB.F1 //switch start

#define swmc PORTB.F2 //switch mode change

#define swup PORTB.F3 //switch up

#define swdown PORTB.F4 //switch mode change

57

/*******************************LED********************************/

#define ledr PORTD.F6 //red led

#define ledy PORTB.F6 //yellow led

#define ledg PORTB.F7 //green led

/***************************LIMIT SWITCH****************************/

#define ls1 PORTA.F3 //limit switch 1



#define ls4 PORTE.F0 //limit switch 4

#define ls5 PORTD.F7 //limit switch 5

#define ls6 PORTC.F3 //limit switch 6

/*************************function declaration*********************/

unsigned int mode,count,read,i,x, set2, speed,speed2,temp ;

unsigned int set1=0;

void mode_condition();

void called_mode(int);

void select_motor(int);

void display();

void _init();

void clockwise_m1(unsigned int);



void unclkwise_m1(unsigned int);



void stopm1(void);

void stopm2(void);

void stopm3(void);

void auto1(void);

void auto2(void);

void auto3(unsigned int);

/*************************main function****************************/

58

void main() {

_init();

while(1)

{

if (swmc==0)

{

mode_condition();

}

else

select_motor(mode);

}

}

/*************************function prototype***********************/

void _init()

{

ADCON1=0x8C;

TRISA=0x1F;

TRISB=0x1F;

TRISC=0x08;

TRISD=0x80;

TRISE=0x01;

mode=0;

ledr=ledy=ledg=1;

bcdD=bcdC=bcdB=bcdA=1;

m1L=m1R=m2L=m2R=m3L=m3R=0;

//Setup up PWM operation

PR2=255; //Set PWM period

CCP1CON = 0b00001100; //Configure CCP1CON to on the PWM1 operation



T2CON = 0b00000100;

59

pwm1 = 0; //Clear motor1 speed



}

void mode_condition()

{

if(swmc==0)

{

delay_ms(50);

if(swmc==0)

{

delay_ms(50);

while(swmc==0) continue;

delay_ms(50);

mode=mode+1;

called_mode(mode);

if (mode>3)

mode=0;

}

}

}

void display()

{

switch(count)

{

case 0:break;

case 1:bcdD=0;bcdC=0;bcdB=0;bcdA=0;

break;


break;


break;

60


break;


break;


break;


break;


break;


break;


break;

}

delay_ms(1000);

}

void called_mode(int num)

{

switch(num)

{

case 1:

ledr=0;

ledy=1;

ledg=1;

break;

case 2:

ledr=1;

ledy=0;

ledg=1;

break;

case 3:

61

ledr=1;

ledy=1;

ledg=0;

break;

}

}

void select_motor(int num)

{

switch(num)

{

case 1: ADCON0=0x05;

stopm2();

stopm3();

if(swup==0)

{

if(swup==0)

{

while(swup==0)

{

delay_ms(100);

read=Adc_Read(0);

if(ls1==0||swup==1)

stopm1();

else

clockwise_m1(100);

}

}

else

stopm1();

}

else if(swdown==0)

{

62

if(swdown==0)

{

while(swdown==0)

{

delay_ms(100);

read=Adc_Read(0);

if(ls2==0||swdown==1/*||read

63

read=Adc_Read(1);

temp=read;

if(swup==0)

{

if(swup==0)

{

while(swup==0)

{

delay_ms(50);

read=Adc_Read(1);

if(ls3==0||swup==1)

stopm2();

else

unclkwise_m2(speed);

}

}

else

stopm2();

}

else if(swdown==0)

{

if(swdown==0)

{//unclkwise_m2(230);

while(swdown==0)

{

delay_ms(100);

read=Adc_Read(1);

if(ls4==0||swdown==1)

stopm2();

else

clockwise_m2(speed2);

}

64

}

else

stopm2();

}

else if(swas==0)

{ delay_ms(50);

read=Adc_Read(1);

while(swas==0)continue;

{

delay_ms(100);

read=Adc_Read(1);

set1=read;

}

}

else

stopm2();

break;

case 3: ADCON0=0x15;

stopm1();

stopm2();

//set1=0;

if(swup==0)

{

if(swup==0)

{

while(swup==0)

{

delay_ms(100);

read=Adc_Read(2);

if(read

65

unclkwise_m3(90);

}

}

else

stopm3();

}

else if(swdown==0)

{

if(swdown==0)

{

while(swdown==0)

{ delay_ms(100);

read=Adc_Read(2);

if(ls6==0||swdown==1)

stopm3();

else

clockwise_m3(70);

}

}

else

stopm3();

}

else if(swas==0)

{

read=ADC_Read(2);

set1=read;

if(swas==0)

{

read=ADC_Read(2);

while(swas==0)continue;

{

ledr=0;

66

read=ADC_Read(2);

set1=read;

}

delay_ms(100);

read=ADC_Read(2);

set1=read;

}

}

else if(swstrt==0)

{

auto3(set1);

}

else

stopm3();

break;

}

}

void auto1()

{

while(swstrt==0)continue;

{

while(1)

{

for(count=10;count>=0;count--)

{

delay_ms(50);

read=Adc_Read(0);

if(ls1==0)

{

delay_ms(100);

unclkwise_m1(110);

read=Adc_Read(0);

67

}

else if(ls2==0)

{

delay_ms(100);

clockwise_m1(110);

read=Adc_Read(0);

}

if(count=0;count--)

{

delay_ms(50);

read=Adc_Read(1);

if(read>=set1||ls3==0)

{

68

delay_ms(100);

clockwise_m2(70);

read=Adc_Read(1);

}

else if(ls4==0)

{

delay_ms(100);

unclkwise_m2(100);

read=Adc_Read(1);

}

if(count=0;count--)

{

69

read=ADC_Read(2);

delay_ms(500);

if(ls6==0&&ls5==1)

{

unclkwise_m3(110);

read=ADC_Read(2);

}

else if(read

70

{

pwm1=pwm;

m1L=1;

m1R=0;

}

void clockwise_m2(unsigned int pwm)

{

pwm2=pwm;

m2L=1;

m2R=0;

}

void clockwise_m3(unsigned int pwm)

{

pwm3=pwm;

m3L=1;

m3R=0;

}

void unclkwise_m1(unsigned int pwm)

{

pwm1=pwm;

m1L=0;

m1R=1;

}


{

pwm2=pwm;

m2L=0;

m2R=1;

}


{

pwm3=pwm;

71

m3L=0;

m3R=1;

}

void stopm1()

{

pwm1=0;

m1L=0;

m1R=0;

}

void stopm2()

{

pwm2=0;

m2L=0;

m2R=0;

}

void stopm3()

{

pwm3=0;

m3L=0;

m3R=0;

}

borang thesisdeclarationcontent and listthesis fyp

robot

Documents

project supervisor

supervisor date

entire project

degree of bachelor

final year project

confidential information

restricted information

external support