Optimization And Design Of A Wrist Rehabilitation Robot With One Degree Of Freedom

Due to the various injuries from sports or strokes that necessitate rehabilitation treatments, the need for a wearable robotic device is clear. This study presents the design of an assistive robotic device based on a six-bar mechanism with one degree of freedom, specifically intended to facilitate the radial/ulnar movement of the wrist in alignment with the user's body. The robot is designed to match the size of the patient's hand, allowing for natural wrist movements. The study begins by experimentally determining the wrist's movement path for radial/ulnar motions, followed by the selection of a suitable mechanism and an analysis of the actuator joint positions. Given that the robot is wearable, an optimization problem is formulated to minimize motion discrepancies between the hand and the robot while adhering to existing constraints. Lastly, the robot undergoes a dynamic evaluation.

کلیدواژه ها:

Wearable Robot ، Radial/Ulnar Movement ، Six-Bar Mechanism