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Design and Analysis of a Wearable Robot for Rehabilitation of Ankle Joint

Afshar Zanjani, Homeira | 2013

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 44056 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Farahmand, Farzam; Abbaspour, Madjid; Behzadipour, Saeed
  7. Abstract:
  8. Worldwide, stroke is the third leading cause of death, after cancer and cardiac diseases. Not only Stroke may lead to death, but its complications are critical, such as: Paralysis, Dysarthria, Cognition Disorders, etc. Improvement from these complications and also preventing from new ones, define the rehabilitation field; in other words, rehabilitation process tries to recover the movement ability of these patients. Today rehabilitation robots are helping these process to be faster and more comfortable, for both patients and physiotherapists. Purpose of this research, is design of a robot for performing rehabilitation process, to lower physiotherapy duration and lower the exhaustion of physiotherapist. In design method of this robot, all the assumption and design framework are defined; after that all the consideration had been done to perform two movements of the ankle joint degrees of freedom, and also one movement of the MTP joint. Then all the mechanisms for performing these movements had been compared and finally the best one is chosen at the end of comparison. Two active and passive modes are defined for different usage mode of this robot. After detail design of this robot, analysis of direct and inverse kinematic had been done to obtain the motion equation. These equations can be used in different mode of robot use, such as performing the exercises and evaluation of patient. Also simulation of this robot has been done in MATLAB software, to predict performing the required motions in reality; for this simulation both lower limb (muscles and joints) and foot has been considered in model
  9. Keywords:
  10. Rehabilitation Robots ; Exoskeleton ; Ankle Joint ; Gait Analysis ; Plantarflexion-Dorsiflexion ; Inversion-Eversion

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