Model-based evaluation of the control strategies of a hand rehabilitation robot based on motor learning principles

Yağmur, Onur Can
Stroke is an important health problem that occurs after blockage or bleeding in the vessels feeding the brain. It is one of the leading causes of death in the world. Patients with surviving hemiplegia often have a loss or decrease in voluntary movement of the right or left side of the body. The disease reduces the quality of life of patients with its spasticity and limits their independence; This situation poses an important problem for patients, their relatives, and the whole society. This thesis aims to develop control strategies for a robotic hand rehabilitation exoskeleton, which focuses on recovery based on motor learning principles, for patients with hemiplegia. The targeted system is designed to support/encourage motor learning. In this way, it is aimed to increase the effectiveness of therapy. Simulink/ MATLAB is used for both the simulations of the mechanism and the patient. To maximize motor learning in the therapy process, it has been suggested that the control system should be developed under assist as needed approach. Detailed mathematical models that describe the resistance torques in the joints include the mechanics of contact and interaction with the object squeezed during the pinching action. Reinforcement learning is used to model the cortical reorganization and to simulate the patient in the therapy process. Kinematic and admittance control strategies are used for rehabilitation simulations and slacking hypothesis is investigated. Admittance controller results in less slacking compared to kinematic controller. Moreover, the effect of spring stiffness in the admittance controller over learning is investigated.


Numerical Study on Blood Flow Modelling in Arteries
Kaya Merdan, Songül (null; 2018-06-29)
In order to prevent, diagnose and treat vascular disease, detailed knowledge of blood blow and the response of blood vessels is essential. The use of computer simulations can provide researchers extremely useful tool of the interpretation and analysis of the circulatory sysytem in both physiological and pathological situations. In this work, we present a 2D mathematical model to forecast for some cardivascular diseases such as stenosis and aneurysms geometry. We consider a blood flow based on Stokes and Nav...
Comparison of five regularization methods for the inverse electrocardiography problem
Güçlü, Alperen; Serinağaoğlu Doğrusöz, Yeşim; Department of Electrical and Electronics Engineering (2013)
Understanding heart’s electrical activity is very important because coronary problems -such as heart attacks, arrhythmia and stroke- are the leading cause of death in the world. Forward and inverse problems of electrocardiography (ECG) are methods that provide detailed information about the electrical activity of the heart. Forward problem of electrocardiography is the estimation of body surface potentials from equivalent cardiac sources. Inverse problem of electrocardiography can be described as estimation...
Polymorphisms of epoxide hydrolase genes and ischemic stroke risk in Turkish population
Miçooğulları, Yağmur; Adalı, Orhan; Can Demirdöğen, Birsen; Department of Biology (2011)
Stroke is characterized with loss of one or more functions of the body resulted by inadequate blood supply to the brain. Most of the cases result from a blood clot forms on an atherosclerotic plaque in the brain which is called as ischemic stroke. Structure of the arteries and vascular tone are listed in major determinants in the development of the disorder. Soluble epoxide hydrolase (sEH, EPHX2) catalyzes conversion of epoxyeicosatrienoic acids to inactive diol metabolites. EETs are potent vasodilators tha...
Large eddy simulation of pressure fluctuations inside stenosed blood vessels towards noninvasive diagnosis of atherosclerosis
Özden, Kamil; Sert, Cüneyt; Yazıcıoğlu, Yiğit; Department of Mechanical Engineering (2018)
Atherosclerosis is a cardiovascular disease, in which plaque builds up inside a blood vessel, narrowing it down and forming a stenosis that adversely affects the flow. Because of the stenosis, turbulent flow occurs at the post-stenotic region, which causespressure fluctuations on the vessel wall. The resulting murmurpropogates through the surrounding tissue and reaches the skin surface. These sounds emitted from the stenosed vessels are evaluated as a sign of stenosis. In this study, large eddy simulations ...
Simulation of transmembrane potential propagation in three dimensional ventricular tissue using Aliev Panfilov model
Seyedebrahimi, MirMehdi; Serinağaoğlu Doğrusöz, Yeşim; Eyyüpkoca, Ferhat; Department of Biomedical Engineering (2015)
Heart is a muscular tissue that circulates blood through the circulatory system, and has a role in providing oxygen and nutrition to body organs and removal of wastes from them. Any disorder in the function of this organ can lead to severe diseases, and even death. Thus, characterization of these diseases and their mechanisms is important, and helps the clinicians diagnose, treat, and predict these diseases. The contraction of heart muscle is dependent on its electrical activity, and determination of this a...
Citation Formats
O. C. Yağmur, “Model-based evaluation of the control strategies of a hand rehabilitation robot based on motor learning principles,” M.S. - Master of Science, Middle East Technical University, 2022.