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- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 47873 (08)
- University: Sharif University of Technology
- Department: Mechanical Engineering
- Advisor(s): Sohrabpour, Saeed; Zohoor, Hassan
- Abstract:
- Rehabilitation usually involves physical therapy, occupational therapy and counseling for the patient's morale to help to restore his power and performance. Considering the economic outlook and the costs of rehabilitation methods and due to the increasing prevalence of stroke and the need to recover the patients in a short period, only the use of robotic systems opens the door to the medical community. Since a large rehabilitation robots designed and built and each been used according to their advantages and shortcomings. In this project, the major shortcomings examined and exoskeleton designed on two major features including portability and covering shoulder workspace. Shoulder movement was separated to scapula movement and shoulder joint movement. Distance between scapula and shoulder joint centers in patients are different so the centers connective link considered adjustable, in order to make the exoskeleton operational for all patients. To designing the exoskeleton joint, two basic models were investigated and effective parameters in location of singularity point were identified. This parameters defined by using Genetic Algorithm and Some Constrain functions based on links self-collision and emitting singularity point in the exoskeleton work space. In order to better optimizing, exoskeleton workspace optimized by new cost function defined in this study. The definition of new cost function based on scoring the exoskeleton work space. Relationship with the natural movement of the human domain, simplicity and reducing the exoskeleton's weight are some of this cost function features we can note. In the Case of ensuring the accuracy of the objective function were defined, an exoskeleton selected from literature and its parameters optimized with defined cost function, then obtained results compared with reported data. In this study also by considering weights of links and human arm, the minimum torque needed to moving exoskeleton calculated and relative actuators and power transmition system were investigated. At the end due to the deficiencies and shortcomings of the results, some proposals for future work presented
- Keywords:
- Rehabilitation ; Exoskeleton ; Optimization ; Workspace ; Shoulders Joint
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