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  1. طراحی مکانیزم و سیستم کنترل ربات پوشیدنی توانبخشی برای انگشتان دست
طراحی مکانیزم و سیستم کنترل ربات پوشیدنی توانبخشی برای انگشتان دست
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طراحی مکانیزم و سیستم کنترل ربات پوشیدنی توانبخشی برای انگشتان دست

یکتا، رامین Yekta, Ramin

Mechanism and Control System Design for Exoskeleton With two Degrees of Freedom for the Fingers

Yekta, Ramin | 2018

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 50699 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Zohoor, Hassan; Farzad, Maryam
  7. Abstract:
  8. According to epidemiological studies conducted in Iran, nowadays, about 200 to 300 people in Iran suffer from stroke. The hands, including fingers, are the most injured and cause one’s disability and creates many direct and indirect costs for the person and the government. In addition to stroke, injuries caused by the use of various apparatus are responsible for hands disruption. It is usually referred to a physiotherapist for the physical disabilities treatment, the treatment process is quite long and time-consuming (usually a one-year physiotherapy). After this treatment, the physiotherapist will prescribe exercise and radiation therapies for the patient. Therefore, in recent years the construction of wearable robots for rehabilitation has been richly considered. However, wearable robots that are portable are most needed, owing to the fact that, these robots could be used by the patient themselves at home, which treat the person at a lower cost and time. In present study, a two-degree of freedom wearable robot for fingers is designed. Electric motors are used as an actuator and a combination of a cable system and a link to power transmission. In order to do so, First, after an introduction to wearable robots and anatomy of the hand, the desired anthropometric information and dimensions of the mechanism are extracted. Afterward, some designs have been presented for this purpose, consequently, the most efficient design from aspect of cost, weight, safety and dimension has been chosen, then its complete layout is designed in SOLIDWORKS software. The kinematic and dynamical equations of the mechanism are obtained and the mechanism is simulated with the Simulink MATLAB software to prove the correctness of the equations. By selecting the appropriate engine, the open loop control system is designed to create an isotonic motion. According to the equations of the four finger and thumb mechanism, the motors require a maximum torque of 0.6 and 0.1 Nm, respectively. The thumb CMC joint receives most of the force from the robot, which is roughly equivalent to 3 N
  9. Keywords:
  10. Rehabilitation ; Exoskeleton ; Wearable Assistive Device ; Finger ; Upper Body ; Thumb

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