@article { author = {Seyed Aghamiri, Seyede Marziyeh and zohoor, hasan}, title = {Design of assistive exoskeleton robot for wrist}, journal = {Iranian Journal of Mechanical Engineering Transactions of ISME}, volume = {21}, number = {1}, pages = {176-187}, year = {2019}, publisher = {ISME}, issn = {2538-4775}, eissn = {}, doi = {}, abstract = {Due to the various injuries that because of exercise or stroke occur to people and require rehabilitation treatments the presence of a wearable robot is important. In this paper, assistive robot is designed that consists of a six-bar mechanism. This mechanism has one degree of freedom and is used to perform radial /ulnar movement of the wrist and moves in the form of parallel with the person's body. The design of the robot is somehow that the dimensions of the robot are proportional to the patient's hand, and also provides the natural movement of the hand and helps the patient to perform movements until his recovery .At first by doing the experimentation the direction of movement for doing the radial /ulnar motion was obtained and then the appropriate mechanism was selected and in terms of Kinematics and dynamics have been studied and the accuracy of the obtained equations is evaluated.}, keywords = {Exoskeleton,radial/ ulnar movement,six- bar mechanism,rehabilitation}, title_fa = {طراحی ربات پوشیدنی کمک حرکتی برای دست}, abstract_fa = {با توجه به اهمیت درمان های توانبخشی وجود ربات پوشیدنی احساس می شود . در این مقاله به طراحی یک ربات کمک حرکتی پرداخته شده است که متشکل از یک مکانیزم شش میله ای می باشد. این مکانیزم دارای یک درجه آزادی می باشد و برای انجام حرکت رادیال/ اولنار مچ دست مورد استفاده قرار می گیرد و به صورت موازی با بدن شخص حرکت می کند. طراحی ربات به گونه ای است که ابعاد ربات متناسب با دست بیمار خواهد بود و همچنین حرکت طبیعی دست را فراهم می کند.}, keywords_fa = {ربات پوشیدنی,حرکت رادیال/ اولنار,مکانیزم شش میله,توانبخشی}, url = {https://jmep.isme.ir/article_36025.html}, eprint = {https://jmep.isme.ir/article_36025_9b93fcac2e934cb30e0e73305c844878.pdf} }