Tools to design new devices for rehabilitation or robotics

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To access the full text documents, please follow this link: http://hdl.handle.net/2117/14314

dc.contributor	Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica
dc.contributor	Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.contributor.author	Peña Pitarch, Esteve
dc.contributor.author	Yang, James
dc.contributor.author	Ticó Falguera, Neus
dc.contributor.author	Abenoza Guardiola, Montserrat
dc.contributor.author	Romero Culleres, Georgia
dc.date	2011
dc.identifier.citation	Peña, E. [et al.]. Tools to design new devices for rehabilitation or robotics. A: IEEE International Conference on Robotics and Biomimetics. "IEEE-ROBIO 2011". Phuket: Institute of Electrical and Electronics Engineers, 2011, p. 1338-1342.
dc.identifier.citation	9781457721373
dc.identifier.uri	http://hdl.handle.net/2117/14314
dc.language.iso	eng
dc.publisher	Institute of Electrical and Electronics Engineers
dc.rights	info:eu-repo/semantics/openAccess
dc.subject	Àrees temàtiques de la UPC::Enginyeria biomèdica::Biomecànica
dc.subject	Àrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject	Bionics
dc.subject	Biònica
dc.title	Tools to design new devices for rehabilitation or robotics
dc.type	info:eu-repo/semantics/publishedVersion
dc.type	info:eu-repo/semantics/conferenceObject
dc.description.abstract	Treball presentat a la 2011 IEEE International Conference on Robotics and Biomimetics, celebrat a Phuket (Tailàndia) del 7 al 9 de desembre de 2011
dc.description.abstract	Several groups are working on the design of a new generation of robots and haptics for the activities of daily life or rehabilitation of elderly people or patients with some pathology. Sometime their forces in power grasping are different from healthy people. This paper is focused on the study of grasp forces of these patients with different pathologies and presents a new methodology to calculate grasp forces applied by virtual human hand when grasping any object with power. The Denavit-Hartenberg method is implemented to analyze the 25-degree-of-freedom (DOF) hand model of the virtual humans. Human performance measures (joint torques and joint displacements) are criteria for the design of joysticks in the material handling machines. Finally we compare these analytical results with experiments where n=16 persons. Based on a comfortable position for the hand a new model is proposed to design joysticks for patients or yhe elderly.

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