Date of Award

2024

Degree Type

Thesis

Degree Name

Master of Science in Mechanical Engineering and Applied Mechanics

Department

Mechanical, Industrial and Systems Engineering

First Advisor

Musa Jouaneh

Abstract

In the evolving landscape of medical systems, the demand for affordable and effective rehabilitation devices, particularly for proprioception training, is increasing. This thesis introduces a novel approach for calculating and simulating a movement trajectory planning algorithm for a linear actuator device constrained by the motor's torque-speed profile and the prototype's setup. The aim is to enhance the effectiveness of therapeutic devices. The methodology involves developing an accurate system performance model using MATLAB to simulate desired movement trajectories, such as triangular or trapezoidal velocity profiles. This model is then implemented with a prototype device constructed using an integrated servo motor that drives a ball-screw stage. Extensive testing and validation through simulations and experiments ensure the model's accuracy and reliability. The goal is to improve therapy planning and execution through comprehensive simulation before application on the device. Emphasizing low-cost solutions, the device is controlled by a modular program based on the proposed algorithm, ensuring user-friendly interaction. Experimental results demonstrate high accuracy in the trajectory planning algorithm, with minimal discrepancies between simulation and real-world implementation, especially for motion rates below three cycles per second. This project lays the groundwork for a rehabilitation device that can be widely adopted in healthcare facilities and adheres to national medical device standards.

Available for download on Friday, September 12, 2025

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