H-man : customized handle for a 2D planar robot

In the past few years many robotic devices have been developed to assist the physiotherapy on motor relearning and rehabilitation for stroke patients. H-Man, a planar manipulandum was introduced as a low cost and portable platform for upper arm rehabilitation. In order to improve its effectiveness a...

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Main Author: Foo, Ming Jeat
Other Authors: Domenico Campolo
Format: Final Year Project
Language:English
Published: 2016
Subjects:
Online Access:http://hdl.handle.net/10356/68733
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-687332023-03-04T19:05:15Z H-man : customized handle for a 2D planar robot Foo, Ming Jeat Domenico Campolo School of Mechanical and Aerospace Engineering Robotics Research Centre DRNTU::Engineering In the past few years many robotic devices have been developed to assist the physiotherapy on motor relearning and rehabilitation for stroke patients. H-Man, a planar manipulandum was introduced as a low cost and portable platform for upper arm rehabilitation. In order to improve its effectiveness and suitability, the functionality of the device is enhanced to allow vertical movement, as well as grip strength sensing. The end effector, i.e. handle, of the robot was modified in this project. Two strain gauge load cells were attached to the handle for force measurement. The handle provides a cylindrical gripping surface, a part of which slides along a horizontal railway before coming into contact with the load cells to transmit force. A reflective infrared sensor was installed to determine the vertical displacement of the handle from the H-Man base structure. The model shows accurate sensing for the vertical displacement and low grip force. The paper presents the design and development process, and the evaluation of the prototypes built. Bachelor of Engineering (Mechanical Engineering) 2016-05-31T07:02:04Z 2016-05-31T07:02:04Z 2016 Final Year Project (FYP) http://hdl.handle.net/10356/68733 en Nanyang Technological University 108 p. application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic DRNTU::Engineering
spellingShingle DRNTU::Engineering
Foo, Ming Jeat
H-man : customized handle for a 2D planar robot
description In the past few years many robotic devices have been developed to assist the physiotherapy on motor relearning and rehabilitation for stroke patients. H-Man, a planar manipulandum was introduced as a low cost and portable platform for upper arm rehabilitation. In order to improve its effectiveness and suitability, the functionality of the device is enhanced to allow vertical movement, as well as grip strength sensing. The end effector, i.e. handle, of the robot was modified in this project. Two strain gauge load cells were attached to the handle for force measurement. The handle provides a cylindrical gripping surface, a part of which slides along a horizontal railway before coming into contact with the load cells to transmit force. A reflective infrared sensor was installed to determine the vertical displacement of the handle from the H-Man base structure. The model shows accurate sensing for the vertical displacement and low grip force. The paper presents the design and development process, and the evaluation of the prototypes built.
author2 Domenico Campolo
author_facet Domenico Campolo
Foo, Ming Jeat
format Final Year Project
author Foo, Ming Jeat
author_sort Foo, Ming Jeat
title H-man : customized handle for a 2D planar robot
title_short H-man : customized handle for a 2D planar robot
title_full H-man : customized handle for a 2D planar robot
title_fullStr H-man : customized handle for a 2D planar robot
title_full_unstemmed H-man : customized handle for a 2D planar robot
title_sort h-man : customized handle for a 2d planar robot
publishDate 2016
url http://hdl.handle.net/10356/68733
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