Design and Analysis of an Unwearable Robot for Ankle Rehabilitation, M.Sc. Thesis Sharif University of Technology ; Farahmand, Farzam (Supervisor)
Abstract
Some of the most usual problems in rehabilitation are ankle joint disabilities which are caused by stroke or damages like ankle twist and disrupt the movement activities. So rehabilitation of this joint which has important role in daily activities like walking is of high importance.
The aim of this research is design of an unwearable robot for rehabilitation of ankle. After the study of several different mechanisms, this robot was designed based on a 2 DOF mechanism named “Agile Eye”. Based on the mechanism and parametrical analysis, final design of this robot was drafted using optimization method. Next, the musculoskeletal model of lower limb was created in MATLAB and by using this... Cataloging briefDesign and Analysis of an Unwearable Robot for Ankle Rehabilitation, M.Sc. Thesis Sharif University of Technology ; Farahmand, Farzam (Supervisor)
Abstract
Some of the most usual problems in rehabilitation are ankle joint disabilities which are caused by stroke or damages like ankle twist and disrupt the movement activities. So rehabilitation of this joint which has important role in daily activities like walking is of high importance.
The aim of this research is design of an unwearable robot for rehabilitation of ankle. After the study of several different mechanisms, this robot was designed based on a 2 DOF mechanism named “Agile Eye”. Based on the mechanism and parametrical analysis, final design of this robot was drafted using optimization method. Next, the musculoskeletal model of lower limb was created in MATLAB and by using this... Find in contentBookmark |
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