Design of assistive exoskeleton robot for wrist

Authors

1 Master of Science, Mechatronics Engineering, South Tehran Branch, Islamic Azad University, Tehran, Iran

2 Center of Excellence in Design, Robotics and Automation, Sharif University of Technology Tehran, Iran.

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.

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References

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Iranian Journal of Mechanical Engineering Transactions of ISME
Volume 21, Issue 1 - Serial Number 54
System Dynamics and Solid Mechanics
June 2019
Pages 176-187

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History

  • Receive Date: 07 December 2017
  • Revise Date: 24 January 2018
  • Accept Date: 26 February 2018

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