Design and development of a gravity-balanced device for the upper limb
The design and development of a gravity-balanced device for the upper limb project is a subsidiary of the H-man project. The H-Man is a robot with mechanical design which uses cabled differential transmission. This device is developed to provide a study for motor control and robotic rehabilitation....
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| Format: | Final Year Project (FYP) |
| Language: | English |
| Published: |
2016
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| Online Access: | http://hdl.handle.net/10356/68088 |
| _version_ | 1811695135000363008 |
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| author | Muhammad Akasha bin Hamdan |
| author2 | Domenico Campolo |
| author_facet | Domenico Campolo Muhammad Akasha bin Hamdan |
| author_sort | Muhammad Akasha bin Hamdan |
| collection | NTU |
| description | The design and development of a gravity-balanced device for the upper limb project is a subsidiary of the H-man project. The H-Man is a robot with mechanical design which uses cabled differential transmission. This device is developed to provide a study for motor control and robotic rehabilitation. Being a lightweight design with simplified kinematics - the H-Man is designed to be used in homes. As the construction of the H-Man is being improved with an enclosure, this enclosure would cause the motion of the robot to be interfered. Therefore, there is a need to operate the robot with the use of links. These links will transfer the movement of the user to the robot on another plane, therefore allowing the H-Man to function with the new design. This is addressed by a “Mirror” Configuration linkage. Links are designed such that the user moves a top link and causes a bottom link to be following its trajectory. In addition, the second problem that was faced when a new way to operate the H-Man was to be researched on. This new configuration is called a bimanual. A bimanual configuration is such that allows the user to operate 2 H-Man with both upper limbs. In the current situation, it is not physically possible to allow H-Man to function properly with 2 H-Man side by side. A ‘pantograph’ set of links were designed to address this issue. |
| first_indexed | 2024-10-01T07:18:39Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/68088 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T07:18:39Z |
| publishDate | 2016 |
| record_format | dspace |
| spelling | ntu-10356/680882023-03-04T18:24:04Z Design and development of a gravity-balanced device for the upper limb Muhammad Akasha bin Hamdan Domenico Campolo School of Mechanical and Aerospace Engineering Robotics Research Centre DRNTU::Engineering The design and development of a gravity-balanced device for the upper limb project is a subsidiary of the H-man project. The H-Man is a robot with mechanical design which uses cabled differential transmission. This device is developed to provide a study for motor control and robotic rehabilitation. Being a lightweight design with simplified kinematics - the H-Man is designed to be used in homes. As the construction of the H-Man is being improved with an enclosure, this enclosure would cause the motion of the robot to be interfered. Therefore, there is a need to operate the robot with the use of links. These links will transfer the movement of the user to the robot on another plane, therefore allowing the H-Man to function with the new design. This is addressed by a “Mirror” Configuration linkage. Links are designed such that the user moves a top link and causes a bottom link to be following its trajectory. In addition, the second problem that was faced when a new way to operate the H-Man was to be researched on. This new configuration is called a bimanual. A bimanual configuration is such that allows the user to operate 2 H-Man with both upper limbs. In the current situation, it is not physically possible to allow H-Man to function properly with 2 H-Man side by side. A ‘pantograph’ set of links were designed to address this issue. Bachelor of Engineering (Mechanical Engineering) 2016-05-24T04:57:10Z 2016-05-24T04:57:10Z 2016 Final Year Project (FYP) http://hdl.handle.net/10356/68088 en Nanyang Technological University 86 p. application/pdf |
| spellingShingle | DRNTU::Engineering Muhammad Akasha bin Hamdan Design and development of a gravity-balanced device for the upper limb |
| title | Design and development of a gravity-balanced device for the upper limb |
| title_full | Design and development of a gravity-balanced device for the upper limb |
| title_fullStr | Design and development of a gravity-balanced device for the upper limb |
| title_full_unstemmed | Design and development of a gravity-balanced device for the upper limb |
| title_short | Design and development of a gravity-balanced device for the upper limb |
| title_sort | design and development of a gravity balanced device for the upper limb |
| topic | DRNTU::Engineering |
| url | http://hdl.handle.net/10356/68088 |
| work_keys_str_mv | AT muhammadakashabinhamdan designanddevelopmentofagravitybalanceddevicefortheupperlimb |