طراحي ربات پوشيدني كمك حركتي براي دست

Design of assistive exoskeleton robot for wrist

با توجه به اهميت درمان هاي توانبخشي وجود ربات پوشيدني احساس مي شود . در اين مقاله به طراحي يك ربات كمك حركتي پرداخته شده است كه متشكل از يك مكانيزم شش ميله اي مي باشد. اين مكانيزم داراي يك درجه آزادي مي باشد و براي انجام حركت راديال/ اولنار مچ دست مورد استفاده قرار مي گيرد و به صورت موازي با بدن شخص حركت مي كند. طراحي ربات به گونه اي است كه ابعاد ربات متناسب با دست بيمار خواهد بود و همچنين حركت طبيعي دست را فراهم مي كند

Due to the various injuries that because of exercise or stroke occur to people and require rehabilitation treatments the presence of a wearable robot is important. In this paper, assistive robot is designed that consists of a six-bar mechanism. This mechanism has one degree of freedom and is used to perform radial /ulnar movement of the wrist and moves in the form of parallel with the person's body. The design of the robot is somehow that the dimensions of the robot are proportional to the patient's hand, and also provides the natural movement of the hand and helps the patient to perform movements until his recovery .At first by doing the experimentation the direction of movement for doing the radial /ulnar motion was obtained and then the appropriate mechanism was selected and in terms of Kinematics and dynamics have been studied and the accuracy of the obtained equations is evaluated.