Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.14365/2681
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dc.contributor.authorKutuk, Mehmet Erkan-
dc.contributor.authorDulger, Lale Canan-
dc.contributor.authorDas, Memik Taylan-
dc.date.accessioned2023-06-16T14:46:48Z-
dc.date.available2023-06-16T14:46:48Z-
dc.date.issued2019-
dc.identifier.issn2191-9151-
dc.identifier.issn2191-916X-
dc.identifier.urihttps://doi.org/10.5194/ms-10-107-2019-
dc.identifier.urihttps://hdl.handle.net/20.500.14365/2681-
dc.description.abstractThis paper presents a new exoskeleton design for wrist and forearm rehabilitation. The contribution of this study is to offer a methodology which shows how to adapt a serial manipulator that reduces the number of actuators used on exoskeleton design for the rehabilitation. The system offered is a combination of end-effectorand exoskeleton-based devices. The passive exoskeleton is attached to the end effector of the manipulator, which provides motion for the purpose of rehabilitation process. The Denso VP 6-Axis Articulated Robot is used to control motion of the exoskeleton during the rehabilitation process. The exoskeleton is designed to be used for both wrist and forearm motions. The desired moving capabilities of the exoskeleton are flexion-extension (FE) and adduction-abduction (AA) motions for the wrist and pronation-supination (PS) motion for the forearm. The anatomical structure of a human limb is taken as a constraint during the design. The joints on the exoskeleton can be locked or unlocked manually in order to restrict or enable the movements. The parts of the exoskeleton include mechanical stoppers to prevent the excessive motion. One passive degree of freedom (DOF) is added in order to prevent misalignment problems between the axes of FE and AA motions. Kinematic feedback of the experiments is performed by using a wireless motion tracker assembled on the exoskeleton. The results proved that motion transmission from robot to exoskeleton is satisfactorily achieved. Instead of different exoskeletons in which each axis is driven and controlled separately, one serial robot with adaptable passive exoskeletons is adequate to facilitate rehabilitation exercises.en_US
dc.description.sponsorshipScientific Research Projects Unit of Gaziantep Universityen_US
dc.description.sponsorshipSpecial thanks to the Scientific Research Projects Unit of Gaziantep University for financial support (project number: MF. DT.17.13) and Physical Treatment and Rehabilitation therapist. Ibrahim Kucukcan for his valuable suggestions.en_US
dc.language.isoenen_US
dc.publisherCopernicus Gesellschaft Mbhen_US
dc.relation.ispartofMechanıcal Scıencesen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectMotor Functionen_US
dc.subjectTherapyen_US
dc.subjectRecoveryen_US
dc.subjectStrokeen_US
dc.subjectArmen_US
dc.titleDesign of a robot-assisted exoskeleton for passive wrist and forearm rehabilitationen_US
dc.typeArticleen_US
dc.identifier.doi10.5194/ms-10-107-2019-
dc.identifier.scopus2-s2.0-85062999347en_US
dc.departmentİzmir Ekonomi Üniversitesien_US
dc.authoridKütük, Mehmet Erkan/0000-0002-3001-2788-
dc.authorwosidKütük, Mehmet Erkan/A-7806-2018-
dc.authorscopusid57191032513-
dc.authorscopusid6506513883-
dc.authorscopusid57207829437-
dc.identifier.volume10en_US
dc.identifier.issue1en_US
dc.identifier.startpage107en_US
dc.identifier.endpage118en_US
dc.identifier.wosWOS:000461175600001en_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.identifier.scopusqualityQ3-
dc.identifier.wosqualityQ4-
item.grantfulltextopen-
item.openairetypeArticle-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.fulltextWith Fulltext-
item.languageiso639-1en-
item.cerifentitytypePublications-
crisitem.author.dept05.10. Mechanical Engineering-
Appears in Collections:Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection
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