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Inverse kinematics and dynamics of an overconstrained manipulator for upper extremity rehabilitation

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dc.contributor.authorSelvi, Özgün
dc.contributor.authorYılmaz, K.
dc.contributor.authorID46949tr_TR
dc.date.accessioned2020-02-18T08:12:21Z
dc.date.available2020-02-18T08:12:21Z
dc.date.issued2017
dc.departmentÇankaya Üniversitesi, Mühendislik Fakültesi,Makine Mühendisliği Bölümüen_US
dc.description.abstractIn this paper, an overconstrained manipulator is selected for the purpose of rehabilitation of the upper extremity. The geometry of the selected manipulator fits the exact motion of the upper extremity and acts as an exoskeleton. Inverse kinematics calculations are shown for describing the motion of actuators for a desired arm motion. Lagrange Formulation is used for the inverse dynamic model of the system. Due to the geometry of the manipulator, kinematic and dynamic calculations are applied to the two spherical subspaces of the manipulator using imaginary joints.en_US
dc.identifier.citationÖzgün, Selvi; Yılmaz, K., "Inverse kinematics and dynamics of an overconstrained manipulator for upper extremity rehabilitation", New Advances In Mechanisms, Mechanical Transmissions And Robotics, Vol:46, pp. 437-443, (2017).en_US
dc.identifier.doi10.1007/978-3-319-45450-4_44
dc.identifier.endpage443en_US
dc.identifier.isbn9783319454504
dc.identifier.startpage437en_US
dc.identifier.urihttp://hdl.handle.net/20.500.12416/2478
dc.identifier.volume46en_US
dc.language.isoenen_US
dc.publisherSpringer International Publishingen_US
dc.relation.ispartofNew Advances In Mechanisms, Mechanical Transmissions And Roboticsen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectRehabilitation Roboticsen_US
dc.subjectOverconstrained Manipulatorsen_US
dc.subjectLagrange Dynamic Analysisen_US
dc.subjectExoskeletonen_US
dc.titleInverse kinematics and dynamics of an overconstrained manipulator for upper extremity rehabilitationtr_TR
dc.titleInverse Kinematics and Dynamics of an Overconstrained Manipulator for Upper Extremity Rehabilitationen_US
dc.typeBook Parten_US
dspace.entity.typePublication

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