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Design of an Active Exoskeleton Robot to Assist Human Elbow and Wrist Motion
, M.Sc. Thesis Sharif University of Technology ; Zohoor, Hassan (Supervisor) ; Firozbakhsh, Keikhosrow (Co-Advisor)
Abstract
Most elderly and physically disabled people suffer from lack of functionality and dexterity in their elbow or wrist. These disabilities are due to the damages mostly caused by sport surgery, spinal surgery, or stroke. Therefore, design of an assistive exoskeleton robot for upper limb movements seems necessary. The purpose of this study is to design, fabricate and deliver a control algorithm for an assistive wearable robot. The robot has three degrees of freedom in order to help the flexion/extension of elbow and wrist. Dynamic and kinematic model of elbow, forearm, and wrist is developed to determine the amounts of torques which are required in the joint actuators mounted on the robot....
Control of an Active Exoskeleton Robot to Assist Human Elbow and Wrist Motion
, M.Sc. Thesis Sharif University of Technology ; Zohoor, Hassan (Supervisor) ; Behzadipour, Saeed (Co-Advisor)
Abstract
Most elderly and physically disabled people suffer from lack of functionality and dexterity in their elbow or wrist. These disabilities are due to the damages mostly caused by sport surgery, spinal surgery, or stroke. Therefore, design of an assistive exoskeleton robot for upper limb movements seems necessary. The purpose of this study is to design, fabricate and deliver a control algorithm for an assistive wearable robot. The robot has two degrees of freedom in order to help the flexion/extension of elbow and wrist. Furthermore, various kinds of control systems incorporated in rehabilitation robots are investigated and their advantages and drawbacks are compared. Then, some conventional...