dc.creator | Gupta, Vikash | |
dc.date.accessioned | 2020-08-22T17:07:26Z | |
dc.date.available | 2012-06-29 | |
dc.date.issued | 2010-06-29 | |
dc.identifier.uri | https://etd.library.vanderbilt.edu/etd-06172010-164730 | |
dc.identifier.uri | http://hdl.handle.net/1803/12603 | |
dc.description.abstract | Stroke is one of the major causes of loss if dexterity in human hand, preventing effective self-care and employment opportunities among the patients. In this thesis, an exoskeleton device for thumb rehabilitation is discussed. Subsequently, a mathematical framework for modeling the exoskeleton is developed. A kinematic analysis for the coupled motion of the thumb-exoskeleton system is presented. Later on, in the thesis a closed-loop inverse kinematics scheme is implemented. The thumb-exoskeleton is a redundant system. The redundancy is resolved at the velocity and acceleration levels to limit the motion of the thumb within the natural range of motion of the thumb. | |
dc.format.mimetype | application/pdf | |
dc.subject | Thumb exoskeleton | |
dc.subject | Kinematic Analysis | |
dc.subject | Kinematics | |
dc.subject | Thumb Rehabilitation | |
dc.subject | Thumb-exoskeleton | |
dc.title | Kinematic Analysis of a Thumb-Exoskeleton System for Post-Stroke Rehabilitation | |
dc.type | thesis | |
dc.contributor.committeeMember | Dr. Derek Kamper | |
dc.contributor.committeeMember | Dr. Robert Webster III | |
dc.type.material | text | |
thesis.degree.name | MS | |
thesis.degree.level | thesis | |
thesis.degree.discipline | Mechanical Engineering | |
thesis.degree.grantor | Vanderbilt University | |
local.embargo.terms | 2012-06-29 | |
local.embargo.lift | 2012-06-29 | |
dc.contributor.committeeChair | Dr. Nilanjan Sarkar | |