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Rehabilitation robots have been shown to be a safe tool for patient motor recovery in clinical medicine. The mechanism synthesis problem of 1-DOF rehabilitation robots is investigated in this paper. Traditional synthesis methods tend to aim at minimizing the trajectory error to produce a mathematically efficient solution, but may not be a practical solution due to engineering constraints. We therefore recommend a novel mechanism synthesis approach based on chord angle descriptor and error tolerance expansion to produce a pool of mechanism options from which mathematically and practically optimal solutions can be selected. According to practical rehabilitation requirements, a library of mechanism trajectories is developed with compressed versions of CAD using an auto-encoder algorithm to expedite the matching between mechanism and rehabilitation tracker.
Source link: https://doi.org/10.5194/ms-13-341-2022
At first, this research intends to create the chair-typed device of nine degrees of freedom at first, followed by the possibility that the system can be controlled by one sensor identification. Two input links for two different devices can be driven by a single linear actuator simultaneously. One of the two types of operation is the sit-to-stand motion, while measured results help the apparatus determine what the user needs to do: one is the sit-to-stand transition; the other is the stand-to-sit movement.
Source link: https://doi.org/10.1177/1687814020938899
Particle movement in nonautonomous 1 degree of freedom Hamiltonian devices for which H is dependent on N periodic functions of t with incommensurable frequencies. The mechanism that leads to fractal integrity of turbulent trajectories in N = 1 systems also applies to the larger class of problems addressed here.
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