Design and Construction of 3 DOF knee Rehabilitation Cartesian Robot

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Hashemi Jirdehi, Sahand | 2014

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 46473 (08)
University: Sharif University of Technology
Department: Mechanical Engineering
Advisor(s): Meghdari, Ali
Abstract:
Knew is the biggest and most complicated joint in the body.Morever knew creat mobility must bear the weight of body and have a stability during static and dynamic activities.Knew is exposed different forces that force to around ligaments and soft fibers.After knew injuries, administration of aid is the important part of rehabilitation program.Rehabilitation robots with ability of accuracy and repetitive practices are good method for reducing time and energy of physiotherapist.At this thesis a 3 DOF Cartesian robot is designed and constructed for rehabilitation of knew that can do every practices for rehabilitation.Steps of designing and constructing of robot are based on movments of knew and have good stability against usual forces.We use addmittance control for controlling relation between force and position.The tests results show that addmittance control used in robot can track referene model that learned in passive mode with high accuracy.This robot can do every rehabilitation practice in active mode without physitheapist
Keywords:
Knee ; Rehabilitation ; Knee Rehabilitation ; Cartesian Robot ; Addmittance Control

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