Kinematic analysis of the finger exoskeleton using MATLAB/Simulink

• Autorzy: Nasiłowski K. , Awrejcewicz J. , Lewandowski D.

Identyfikatory

DOI

10.5277/abb140315

• Języki publikacji: EN

Abstrakty

EN

A paralyzed and not fully functional part of human body can be supported by the properly designed exoskeleton system with motoric abilities. It can help in rehabilitation, or movement of a disabled/paralyzed limb. Both suitably selected geometry and specialized software are studied applying the MATLAB environment. A finger exoskeleton was the base for MATLAB/Simulink model. Specialized software, such as MATLAB/Simulink give us an opportunity to optimize calculation reaching precise results, which help in next steps of design process. The calculations carried out yield information regarding movement relation between three functionally connected actuators and showed distance and velocity changes during the whole simulation time.

Słowa kluczowe

EN

kinematic; finger; exoskeleton; MATLAB; Simulink

PL

kinematyka; egzoszkielet; palec; MATLAB; Simulink

• Wydawca: Oficyna Wydawnicza Politechniki Wrocławskiej
• Czasopismo: Acta of Bioengineering and Biomechanics
• Rocznik: 2014
• Tom: Vol. 16, no. 3
• Strony: 129--134
• Opis fizyczny: Bibliogr. 9 poz., rys., tab., wykr.

Twórcy

autor

Nasiłowski K.

• Technical University of Łódź, Department of Automation, Biomechanics and Mechatronics, Łódź, Poland

autor

Awrejcewicz J.

• Technical University of Łódź, Department of Automation, Biomechanics and Mechatronics, Łódź, Poland

autor

Lewandowski D.

• Technical University of Łódź, Department of Automation, Biomechanics and Mechatronics, Łódź, Poland

Bibliografia

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• [3] JONES C.L., WANG F., OSSWALD C., KANG X., SARKAR N., KAMPER D.G., Control and Kinematic Performance Analysis of an Actuated Finger Exoskeleton for Hand Rehabilitation following Stroke, International Conference on Biomedical Robotics and Biomechatronics, Tokyo, Japan, September 26–29, 2010.
• [4] OZKUL F., BARKANA D.E., Design and Control of an Upper Limb Exoskeleton Robot Rehab Roby, R. Groß et al. (Eds.), TAROS 2011, Springer-Verlag, Berlin 2011, 125–136.
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• [7] MROZOWSKI J., AWREJCEWICZ J., Introduction to Biomechanics, TUL Press, Łódź 2004, 218 pages (in Polish), ISBN 83-7283-116-5.
• [8] AWREJCEWICZ J., Technical Mechanics, WNT, Warsaw 2009, 1051 pages ISBN 978-83-929120-0-2.
• [9] WANG F., SHASTRI M., JONES C.L., GUPTA V., OSSWALD C., KANG X., KAMPER D.G., SARKAR N., Design and Control of an Actuated Thumb Exoskeleton for Hand Rehabilitation Following Stroke, 2011, IEEE International Conference on Robotics and Automation Shanghai International