2020/03/25 by Stroppa, Mine Sarac
Engineering · Medicine · #FOS: Computer and information sciences #Muscle activation and electromyography studies #Prosthetics and Rehabilitation Robotics #Robotics (cs.RO) #Stroke Rehabilitation and Recovery
paper · pdf · doi:10.48550/arxiv.2003.11598
openalex publication_date 2020/03/25 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
I present the design, implementation and control of a novel, linkage-based, underactuated hand exoskeleton aimed to assist patients with hand disabilities during grasping tasks for robot assisted physical rehabilitation or robot assisted activities of daily living. Even though the proposed exoskeleton was designed with the purpose of assisting users during interactions with real objects around them, its use can be extended for haptic applications as well. In this thesis, I will deeply mention the exoskeletons in the literature, detail the design decisions and implement various control strategies to use this exoskeleton for different applications in the future.