An end-effector based upper-limb rehabilitation robot: Preliminary mechanism design

Yekaterina Ponomarenko, Bauyrzhan Aubakir, Shahid Hussain, Almas Shintemirov

Research output: A Conference proceeding or a Chapter in BookConference contribution

Abstract

Loss of upper limb function often appears after stroke. In this paper the 3D mechanism design for an electromagnetically powered end-effector based robotic manipulator was developed for post-stroke physical therapy. The proposed system delivers a dexterous performance and has a novelty among end-effector based rehabilitation robots. Its design incorporates curved links, which expand the manipulators performance abilities, and, as a result, increase the range of types of rehabilitation therapies. The proposed robotic manipulator can provide a patient with three and two degrees of freedom in shoulder and elbow joints, respectively. It has seven degrees of freedom, and is capable of 7 kg payload. The design of manipulators linkages was optimized to decrease the weight of the system.

Original languageEnglish
Title of host publication10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages168-172
Number of pages5
ISBN (Electronic)9781479957170
ISBN (Print)9781479957170
DOIs
Publication statusPublished - 22 Jan 2014
Externally publishedYes
Event10th France-Japan/8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014 - Tokyo, Japan
Duration: 27 Nov 201429 Nov 2014

Publication series

Name10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014

Conference

Conference10th France-Japan/8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014
CountryJapan
CityTokyo
Period27/11/1429/11/14

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  • Cite this

    Ponomarenko, Y., Aubakir, B., Hussain, S., & Shintemirov, A. (2014). An end-effector based upper-limb rehabilitation robot: Preliminary mechanism design. In 10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014 (pp. 168-172). [7018564] (10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/MECATRONICS.2014.7018564