ROBOTIC REHABILITATION WITH THE ELBOW STIFFNESS ADJUSTABILITY

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BAMDAD MAHDI; ZARSHENAS HOMAYOON

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Journal: Modares Mechanical Engineering Year:2015 | Volume:14 | Issue:11 Page(s): 151-158

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Information Journal Paper

Title

ROBOTIC REHABILITATION WITH THE ELBOW STIFFNESS ADJUSTABILITY

Author(s)

BAMDAD MAHDI | ZARSHENAS HOMAYOON | Issue Writer Certificate

Keywords

REHABILITATIONQ1

MECHANISM DESIGNQ2

CABLE ACTUATEDQ2

STIFFNESSQ2

ELBOW JOINTQ2

Abstract

The quality improvement of human and robot interface has led to create a new device in this area. The adaptation of robot with the physical characteristics of body creates a safe and efficient interface between robot and user. Considering the joint STIFFNESS variation during the motion range can make the patient feel better and thus, bring success for the REHABILITATION program. In this paper, a CABLE ACTUATED robot is introduced as a new REHABILITATION approach. Cable actuator is used in this project in order to achieve to maximum adaptation with elbow operation. Moreover in the design of REHABILITATION device, some advantages are regarded like the low-cost and light weight, smooth joint motion and motor size reduction. In this paper, equations of the system are described with focus on STIFFNESS issue. The dynamic parameters related to the elbow behavior are described and the performance of the elbow REHABILITATION device is examined. In tests which are carried out, the trajectory for elbow range of motion is planned according to elbow REHABILITATION exercises. As the presented mechanism able to simulate elbow REHABILITATION, it can be used more widely in the field of medical robotics.

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APA: Copy

BAMDAD, MAHDI, & ZARSHENAS, HOMAYOON. (2015). ROBOTIC REHABILITATION WITH THE ELBOW STIFFNESS ADJUSTABILITY. MODARES MECHANICAL ENGINEERING, 14(11), 151-158. SID. https://sid.ir/paper/179516/en

Vancouver: Copy

BAMDAD MAHDI, ZARSHENAS HOMAYOON. ROBOTIC REHABILITATION WITH THE ELBOW STIFFNESS ADJUSTABILITY. MODARES MECHANICAL ENGINEERING[Internet]. 2015;14(11):151-158. Available from: https://sid.ir/paper/179516/en

IEEE: Copy

MAHDI BAMDAD, and HOMAYOON ZARSHENAS, “ROBOTIC REHABILITATION WITH THE ELBOW STIFFNESS ADJUSTABILITY,” MODARES MECHANICAL ENGINEERING, vol. 14, no. 11, pp. 151–158, 2015, [Online]. Available: https://sid.ir/paper/179516/en

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