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A novel upper-limb rehabilitation robot with 4 DOFs: design and prototype

Sepahi, S ; Sharif University of Technology | 2019

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  1. Type of Document: Article
  2. DOI: 10.1109/ICRoM.2018.8657540
  3. Publisher: Institute of Electrical and Electronics Engineers Inc , 2019
  4. Abstract:
  5. In recent years, robotic rehabilitation has been utilized in treatment and recovery of patients with disabilities. In this paper, a novel design and kinematic analysis of a 4-DOF robot for upper-limb rehabilitation are proposed. The main novelty of this design is its mechanism for wrist and fingers motions which is added to the shoulder and elbow mechanism without any noticeable weight increase in the moving parts of the robot. For this purpose, a cable driven mechanism is implemented at the robot end-effector to move the wrist and fingers parts, and the corresponding actuators are placed at the base of the robot. © 2018 IEEE
  6. Keywords:
  7. Human-robot interaction ; Multi-DOF mechanism ; Robot design ; End effectors ; Machine design ; Neuromuscular rehabilitation ; Patient treatment ; Robotics ; Cable-driven mechanisms ; Kinematic Analysis ; Multi-DOF ; Rehabilitation robotics ; Robot designs ; Robot end effector ; Robotic rehabilitation ; Upper-limb rehabilitation ; Human robot interaction
  8. Source: Proceedings of the 6th RSI International Conference on Robotics and Mechatronics, IcRoM 2018, 23 October 2018 through 25 October 2018 ; 2019 , Pages 434-438 ; 9781728101279 (ISBN)
  9. URL: https://ieeexplore.ieee.org/document/8657540