Robotic Assisted Passive Wrist and Forearm Rehabilitation: Design of an Exoskeleton and Implementation
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Date
2020
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Institute of Electrical and Electronics Engineers Inc.
Open Access Color
Green Open Access
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Abstract
An exoskeleton for human wrist and forearm rehabilitation has been designed and manufactured. Considering the torque values required for daily life activities, a structural analysis study has been presented. It has three degrees of freedom (DOF) which must be fitted to real human wrist and forearm. Anatomical motion ranges of human limbs have been taken into account during design. IMU has been used in order to get the kinematic values of the limbs and to evaluate the performance level of the therapy. Adapting a six DOF Denso robot to rehabilitation has been completed and experiments have been performed. © 2020 IEEE.
Description
2020 Medical Technologies Congress, TIPTEKNO 2020 -- 19 November 2020 through 20 November 2020 -- 166140
Keywords
exoskeleton, inertial movement unit (IMU), motion capturing, rehabilitation robotics, wristforearm rehabilitation, Biomedical engineering, Degrees of freedom (mechanics), Robots, Daily life activities, Human limbs, Motion range, Performance level, Six-DOF, Three degrees of freedom, Exoskeleton (Robotics), rehabilitation robotics; wrist&forearm rehabilitation; inertial movement unit (JMU); motion capturing; exoskeleton
Fields of Science
03 medical and health sciences, 0302 clinical medicine, 0305 other medical science
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TIPTEKNO 2020 - Tip Teknolojileri Kongresi - 2020 Medical Technologies Congress, TIPTEKNO 2020
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1
End Page
4
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