Abstract
The need for rehabilitation robots is increasing, while the current price is too high. One reason for the high price of rehabilitation robots is the complicated controller design. For this reason, there is a need for a simpler controller design to be produced at an affordable price. In this study, the NCTF control system tested its performance on a rehabilitation robot prototype with a horizontal linear motion system. The tests are carried out using point to point and set point tracking commands. Point to point testing is carried out at a distance of 50 mm, 150 mm and 230 mm. Meanwhile, set point tracking testing was carried out on the sinusoidal wave with a 100 mm amplitude and a frequency of 0.25 Hz. Both tests were carried out by giving a load of 0 Kg, 0.82 Kg, and 1.64 Kg. The results of this study indicate that the NCTF control provides a good response. The steady-state error value for all point to point motion commands below 2%. As for set point tracking commands, the system can follow orders properly, but there is a 0.24-second delay.
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