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Design And Development Of A Robot Guided Rehabilitation Scheme For Upper Extremity Rehabilitation, Md Assad-Uz-Zaman
Design And Development Of A Robot Guided Rehabilitation Scheme For Upper Extremity Rehabilitation, Md Assad-Uz-Zaman
Theses and Dissertations
To rehabilitate individuals with impaired upper-limb function, we have designed and developed a robot guided rehabilitation scheme. A humanoid robot, NAO was used for this purpose. NAO has 25 degrees of freedom. With its sensors and actuators, it can walk forward and backward, can sit down and stand up, can wave his hand, can speak to the audience, can feel the touch sensation, and can recognize the person he is meeting. All these qualities have made NAO a perfect coach to guide the subjects to perform rehabilitation exercises. To demonstrate rehabilitation exercises with NAO, a library of recommended rehabilitation exercises …
Design Optimization And Motion Planning For Pneumatically-Actuated Manipulators, Daniel Mark Bodily
Design Optimization And Motion Planning For Pneumatically-Actuated Manipulators, Daniel Mark Bodily
Theses and Dissertations
Soft robotic systems are becoming increasingly popular as they are generally safer, lighter, and easier to manufacture than their more rigid, traditional counterparts. These advantages allow an increased sense of freedom in both the design and operation of these platforms. In this work, we seek methods of leveraging this freedom to both design and plan motions for two different serial-chain, pneumatically actuated manipulators developed by Pneubotics, a small startup company based in San Francisco. In doing so, we focus primarily on two related endeavors: (1) the optimal kinematic design of these and other similar robots (i.e., choosing link lengths, base …