Abstract
In the context of global pandemic, hospital or healthcare center is very sensitive for patients. However, the injuried patients must maintain their medical orders to rehabililate as soon as possible, otherwise, the clinical treatment could be interruptted. To overcome these troubles, an open-source design of mechanical machine for non-invasive method (NIPPT) is firstly introduced. The advantages of our approach are low-cost, available in the market and satisfy the medical requirements. The structure and motion of wrist are initially analyzed to obtain the dimensional sizes of mechanical details. Owing to computational mechanics, the architecture of hardware components is determined and manufactured. Later, sensing modules such as torque sensor, positioning sensor and limit sensor are integrated while powerful microprocessor provides the abilities of rapid calculation, small sampling time and stable operation. Then, the model-free control scheme such as fuzzy PID (F-PID) is embeded into hardware in order to drive the mechanism appropriately. Due to the simple implementation and servo lag phenomenon, this controller is expected to adapt with the uncertainties and unknown environment. Based on this design, several medical exercises are validated in the experimental tests. It is obviously seen that the proposed approach is feasible, proper and possible for clinical applications.