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Skip to Search Results- 2Cable-driven
- 2Rehabilitation robotics
- 1Control systems
- 1Human arm
- 1Impedance measurement
- 1Mechanical impedance
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Dynamics and Control of Multibody Cable-Driven Mechanisms with Application in Rehabilitation Robotics
DownloadFall 2012
With increasing demand for physical therapy in recent years, robotic systems have been proved to have great potential in improving the level of the delivered rehabilitation services both in quality and quantity and also providing huge savings in labor costs of. In this project a new cable-driven...
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Fall 2013
This thesis presents techniques to measure the human arm's mechanical impedance using a rehabilitation robot, drawing applications to telerehabilitation and patient motor function assessment. Conventional teleoperation system stability analysis and control assumes the human operator remains...
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Synthesis, kinematic modeling, parameter identification and control of a rehabilitation cable-driven robot
DownloadFall 2011
The proposed mechanism in this study is a multi-body cable driven robot. The robot has 6 DOF. The thesis first presents the required concepts and definitions. Then a solution to the kinematic synthesis problem is reviewed. This solution includes an algorithm that finds all the sets of design...