Design and Analysis a Robot for Hand’s weight Balancing and Tremor Improvement

Please enable javascript in your browser.

Mojtaba, Hashemi | 2011

490 Viewed

Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 41952 (08)
University: Sharif University of Technology
Department: Mechanical Engineering
Advisor(s): Farahmand, Farzam; Movahedi, Mohammad Reza
Abstract:
All humanare subject to a physiligical phenomenon known as tremor, which introduces unintended, relatively high frequency movments into various limbs. This involuntary movment is main reason of human disability in doing of precision tasks. Precision surgery like eye surgery is among them that surgeons must have very ittle tremor to enable them to oprate on the small anatomy of the eye. In this reaearch by emphasizing on reduction of muscle fatigue in precision surgery, weight balancing mechanism designed and analyzed. Fatigue is most important cause of tremor, thus we expected tremor amplitude reduce by reduction of muscle fatigue. Purpose mechanism is passive mechanism that balances the weight of hand by two springs, in all position of hand in surgery. The dynamic stiffness of mechanism is derived by optimization process so the amplitude of rest tremor is reduced.Design mechanism and 4 Dof human arm that attached to mechanism are modeled in simmech for verify desired results. Simulation result represent up to 70 percent reduction in tremor amplitude so mechanism attached to arm
Keywords:
Robot ; Osteoporosis ; Tremor ; Hand Weight Balancing

No TOC