Improvements of a wrist robot : a platform to assess human motor strategies

• Main Author: Gan, Wei Chang
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Final Year Project
• Language: English
• Published: 2014
• Subjects: DRNTU::Engineering::Mechanical engineering::Robots
• Online Access: http://hdl.handle.net/10356/60416
• Institution: Nanyang Technological University

The study of human upper-limb motion is growing widely as it supports rehabilitation purposes and also in other areas such as medical, sport, so as entertainment. This report focuses on the designs improvement done on a research-based wrist robot platform that focuses on the wrist rotation in the 3 axis of rotations: Radial-Ulna Deviation (RUD), Flexion-Extension (FE), and Prono-Supination (PS). The designs of the platform are being modified to further improve its performance in the research experiments. Characterization procedures are performed to re-characterize the torque constant of the new replaced actuator and the gravity term of the platform. The results are compared and showed improvement.