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    Optimal dimensional synthesis of a symmetrical five-bar planar upper-extremity neuromotor device

    228377_228377.pdf (545.9Kb)
    Access Status
    Open access
    Authors
    Gao, J.
    Li, M.
    Allison, Garry
    Cui, Lei
    Date
    2015
    Type
    Journal Article
    
    Metadata
    Show full item record
    Citation
    Gao, J. and Li, M. and Allison, G. and Cui, L. 2015. Optimal dimensional synthesis of a symmetrical five-bar planar upper-extremity neuromotor device. Chinese Journal of Mechanical Engineering. 28 (4): pp. 684-690.
    Source Title
    Chinese Journal of Mechanical Engineering
    DOI
    10.3901/CJME.2015.0301.057
    ISSN
    1000-9345
    School
    School of Physiotherapy and Exercise Science
    Remarks

    The final publication is available at Springer via http://doi.org/10.3901/CJME.2015.0301.057

    URI
    http://hdl.handle.net/20.500.11937/26990
    Collection
    • Curtin Research Publications
    Abstract

    Individuals with hemiplegia suffer from impaired arm movements that appear as a marked change in arm stiffness. A quantitative measure of arm stiffness would characterize rehabilitation therapy effectively, while little mechanism is designed to implement the function. A symmetrical five-bar linkage consisting of two revolute joints and three prismatic joints is presented. Inverse kinematics and forward kinematics are obtained first. Then inverse singularities and direct singularities of the mechanism are gained. Based on the results of kinematics analysis, the global stiffness index is defined. Finally, optimal dimensional synthesis of the mechanism in terms of maximum stiffness is conducted by genetic algorithms. The calculation results shows that when length of both the two linkage a=830 mm, interacting angle of the two guides 2d=4.48 radian, and maximum range of displacement of the two carriers dmax=940 mm, the mechanism achieves highest rigidity and its workspace is singularity-free, which covers the human left and right arm range of motion. The proposed novel mechanism featuring high rigidity and a singularity-free workspace can provides rehabilitation training, but also solves the problem of quantitative measure of arm stiffness.

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