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Millions of people suffer a stroke each year. One of the problems after stroke is hemiplegic hand. In previous studies a lot of robotic based devices has been suggested for rehabilitation of hemiplegic hand. Actuators using for force transmitting in previous devices have some disadvantages. One of them is misalignment on the centre of rotation between joints used in devices and joints of the hand...
Determining the joint torques of the hand is a useful design parameter for humanoid mechanism, rehabilitation robots and orthotic and prosthetic devices. In previous studies, different methods have been suggested for estimating joint torques of the hand such as mathematical models and simulation models. This paper presents a 16 DOF hand kinematic model and its simulation. Kinematic structure of an...
The wrist links hand and forearm to each other and it allows movements in two different planes. Thus it has an important role in the mobility of the hand. In previous studies, researchers have analysed the movement of the wrist joint using different mathematical models and methods. In this study, the hand and the wrist have been modelled as a simple pendulum in the sagittal plane. MATLAB&Simulink-based...
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