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Title: Design of a cable-driven four-bar mechanism for arm rehabilitation
Authors: Eraz, Talha
Kiper, Gökhan
Keywords: Rehabilitation mechanism
Kinematic synthesis
Cable driven mechanism
Actuation design
Issue Date: 2017
Publisher: Springer Verlag
Source: Eraz, T., and Kiper, G. (2017). Design of a cable-driven four-bar mechanism for arm rehabilitation. New Trends in Mechanism and Machine Science - Theory and Industrial Applications, 609-617. doi:10.1007/978-3-319-44156-6_62
Abstract: This paper presents the design of an assistive mechanism to be used for the rehabilitation of human arm. First the motions of two types of rehabilitation exercises are described. The motions are planar motions, so a planar four-bar mechanism is designed. The synthesis problem is formulated as a three-position synthesis problem. Next, the actuation issue is addressed. Actuation via cables is preferred for better force transmission. The connection point of the cable to the mechanism is optimized considering the curvature of the coupler point curve. Finally, multiple pulleys are designed for enhancing force transmission.
ISBN: 9783319441559
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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