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Mechanism and Control System Design for Exoskeleton With two Degrees of Freedom for the Fingers
, M.Sc. Thesis Sharif University of Technology ; Zohoor, Hassan (Supervisor) ; Farzad, Maryam (Supervisor)
Abstract
According to epidemiological studies conducted in Iran, nowadays, about 200 to 300 people in Iran suffer from stroke. The hands, including fingers, are the most injured and cause one’s disability and creates many direct and indirect costs for the person and the government. In addition to stroke, injuries caused by the use of various apparatus are responsible for hands disruption. It is usually referred to a physiotherapist for the physical disabilities treatment, the treatment process is quite long and time-consuming (usually a one-year physiotherapy). After this treatment, the physiotherapist will prescribe exercise and radiation therapies for the patient. Therefore, in recent years the...
Design and Construction of an Artificial Thumb Controlled by Command from the Index Finger
, M.Sc. Thesis Sharif University of Technology ; Salak Ghafari, Ali (Supervisor)
Abstract
This study provides preliminary work on the development of manual rehabilitation device for wearable and robotic manual applications. This work examines the motion of the fingers using the sensors. The developed mechanism is based on a combination of strain gauge sensors and a stepper motor, which forms the motion of the artificial thumb. In this thesis, the creation of an artificial thumb has been done with one degree of freedom, the movement and grabbing of lightweight objects. For grabbing objects, the command of controlling and keeping objects is performed through the IAR software and labVIEW software which is given to the stepper motor.This study describes the details of the work done...