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Kinematic Design of a Multi-link Cable-driven Robot for Hand Rehabilitation

Taghavi, Amir Hossein | 2012

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 43520 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Hassan Zohoor
  7. Abstract:
  8. Rehabilitation science has been proved that, in most cases, manipulation of injured body part, repeatedly, can help in returning the performance of that part. So robots can be useful for rehabilitation applications. Rehabilitation robots can record physical parameters such as position, velocity and force, so can play important role in developmentof making decisions on exercise types. Among the existing robots, cable-driven robots have specifications such as vast workspace, low cost, flexibility and light weight which make them suitable for rehabilitation applications.
    The purpose of this research is kinematic design of a multi-link cable-driven robot for arm rehabilitation.In the most of rehabilitation cable robots researches the chain kinematics of arm has been neglected. In these researches, arm has been considered as a rigid object while this is a serial multi-link. Existing constraints in arm mechanism can affect the workspace of robots. So, in this research, the concept of multi-link cable-driven robots has been used. In proposed robot, unlike the conventional cable-driven robots, cables have been connected to a serial chain mechanism. The design of multi-link robots is a new challenge in cable robots field, so the main aim of this research is obtaining a solution for this challenge. Other aim of this research is optimizingthe workspace of multi-link robots, by determining the best array for cables and best position for motors. Also, methods of designing the motors and effect of various arrays of cables on the size of workspace, energy consumption and comfort of patient have been investigated.
  9. Keywords:
  10. Rehabilitation ; Workspace ; Optimal Design ; Multi-Link Cable-Driven Robots

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