Initial-to-Point of Motion Planning on Exoskeleton Arm for Post Stroke Rehabilitation

There were several statements of problem that initially rise and cause the invention. Currently, there are some problems that are still the main cause of adult disability in Malaysia and various countries. Although stroke can cause deficiencies in some neurological domains, the most normally affected is the motor system. Furthermore, given the central role normally played by hand movements in human existence, much focus is placed on remedial research focused on understanding and restoring the function of hand motor after stroke. In this study is to design arm exoskeleton for use in the field of hand rehabilitation based on the application of therapy and closely related movement training. Although the system already exists, past exoskeleton efforts involve large, expensive, invasive, and moored products and costs. Therefore, this study is m to build a cheap, smooth and effective exoskeleton system. To overcome this problem, the rehabilitation for human therapy will be a low-cost, ergonomic device actuated through sensors measuring the user’s motion. The study of exoskeleton arm is particularly interest to the researchers. Various methods have been proposed by past researchers to improve motion planning for the exoskeleton arm. However, some are still limited because the techniques are not appropriate for therapeutic applications. Motion planning is very important for the patients need to do movement as a therapist. The purpose of this study is to develop motion planning on exoskeleton arm for post-stroke rehabilitation. The motion planning from the initial to the target point. By using third order polynomial system, the trajectory planning is carried out. The starting point is known as the initial point and final point is known as target achieved. By taking the number of degrees of freedom and time, motion planning has been produced. The motion planning of exoskeleton arm is depending on the angle joint and the time to achieve the target movement.