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Synthesis of a Watt II six-bar linkage in the design of a hand rehabilitation robot

Title
Synthesis of a Watt II six-bar linkage in the design of a hand rehabilitation robot
Authors
Gezgin, ErkinChang, Pyung-HunAkhan, Ahmet Faruk
Issue Date
2016-10
Citation
Mechanism and Machine Theory, 104, 177-189
Type
Article
Article Type
Article
Keywords
Body Guidance SynthesisDesired TrajectoriesHand Rehabilitation RobotsKinematic SynthesisMachine DesignMechanism SynthesisNeurological DisordersRobotic RehabilitationRoboticsRobotsSpinal Cord Injuries (SCI)Watt II Six-BarWatt II Six-Bar Mechanism
ISSN
0094-114X
Abstract
As a result of neurological disorders such as stroke, brain and spinal cord injuries, disability in body regions might occur. In case of similar situations, rapid therapeutic training in early stages has chance to prevent permanent disability by retraining motor movements. In regular treatments, therapists help to carry out regular exercises to train motor movements of the disabled region. However, continuous increase in cases, tough working conditions, dependability on expertise and human body limitations make the procedures cumbersome and ineffective. Incorporating robots into therapeutic training not only allows executing treatments in a delicate repeatability but also opens new possibilities in terms of exercise types and speeds. In the light of recent developments in robotic rehabilitation this paper presents the design of a hand rehabilitation robot for human four fingers that solely targets hand disabilities by utilizing real grasping motion data of the forefinger into kinematic synthesis of Watt II six-bar linkage. During the design geometrical synthesis was used for the first loop in order to attain continuous input rotation and the body-guidance synthesis was used for the second loop for the end effector to follow the desired trajectory in desired orientations. © 2016 Elsevier Ltd. All rights reserved.
URI
http://hdl.handle.net/20.500.11750/5078
DOI
10.1016/j.mechmachtheory.2016.05.023
Publisher
Elsevier Ltd
Files:
There are no files associated with this item.
Collection:
ETC1. Journal Articles


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