A study on the feasibility of a 3-RRR spherical parallel manipulator in the design of an assistive device for upper limb activities of daily living

• Main Author: Wong, Mitch Qun Sheng
• Other Authors: Ang Wei Tech
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2020
• Subjects: Engineering::Aeronautical engineering
• Online Access: https://hdl.handle.net/10356/140657
• Institution: Nanyang Technological University

Singapore faces a growing problem of an aging population. With a declining birth rate and low mortality rate, the number of elderlies in Singapore continues to rise. This adds to the load in the medical system in Singapore, of which, has seen low interest and empty positions in elderly care. The Elderly find their bodies physically weaker as they become more prone to falls and conditions like stroke which exacerbates their weaknesses. The increasing number of elderlies, yet small workforce catered to them, could prove disastrous in future years. Technology appeals as the solution to this problem as human interaction can be replaced with improved devices today. Rehabilitation of patients with difficulty navigating everyday activities has also seen to start adopting technology to supplement the lack of manpower or an improvement in treatment techniques. Assistive devices also see a rise in popularity due to their lower cost compared to in-house treatment at hospitals and nursing homes. As engineering solutions in robotics continue to rise, sophisticated but cheap devices will eventually find their place as the assistive devices in the homes of these elderly. This paper will study and propose the feasibility of a 3-revolute spherical parallel manipulator, known as the Agile Eye and a novel design of an assistive devices for upper limb activities of daily living.