NDLI: Design, Characterization, and Impedance Limits of a Hand Robot

Content Provider	IEEE Xplore Digital Library
Author	Masia, L. Krebs, H.I. Cappa, P. Hogan, N.
Copyright Year	2007
Description	Author affiliation: Massachusetts Inst. of Technol., Cambridge (Masia, L.)
Abstract	Previous work has expanded the planar MIT-MANUS to include an anti-gravity robot for shoulder-and-elbow and wrist robot. In this paper we present the "missing link": a hand module. We will discuss in detail the design and characterization of this module. It consists of a single degree of freedom mechanism in a novel statorless configuration, which enables rehabilitation of grasping. The system uses the kinematic configuration of a double crank and slider where the members are linked to stator and rotor; a free base motor, i.e., a motor having two rotors that are free to rotate instead of a fixed stator and a single rotatable rotor. A cylindrical structure, made of six panels and driven by the relative rotation of the rotors, is able to increase its radius linearly, moving or guiding the hand of the patients during grasping This module completes our development of robots for the upper-extremity affording for the first time a whole-arm rehabilitation experience.
Starting Page	1085
Ending Page	1089
File Size	4499347
Page Count	5
File Format	PDF
ISBN	9781424413195
DOI	10.1109/ICORR.2007.4428558
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-06-13
Publisher Place	Netherlands
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wrist Robot kinematics Medical treatment Rotors Grasping Rehabilitation robotics Stators Isolation technology Robot sensing systems Impedance
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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