Effect of links’ center of gravity position on the performance of a four-bar linkage as an upper limb rehabilitation mechanism: A parametric study

Evagoras Xydas, P. Herodotou, L. S. Louca, A. Mueller

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

It has been shown that mechanisms based on closed kinematic chains, with integrated passive elements (springs) can generate motions that replicate the natural hand motion and therefore they can be potentially useful in rehabilitation. Despite their reduced flexibility over their robotic counterparts these mechanisms are attractive due to their reduced cost, complexity and external power requirement. In previous work an optimization procedure was used for determining the stiffness and geometrical characteristics of two linear springs (one assistive/accelerating and one opposing/decelerating) that can cause a straight-line-generating mechanism to replicate the natural hand motion along linear paths. More specifically in the optimization process a straight-line mechanism has been considered. This work further extends the mechanism’s analysis by investigating the effect of the links’ Center of Gravity (CG) positions on the required input torque. The aim is to determine whether the required input torque can be reduced, thus reducing the passive (springs) and active (motor) control elements sizes. The results suggest that the CG’s position significantly affects the mechanism’s performance and that the required input torque can be reduced by appropriate CG position variation. Furthermore, the CG locations that lead to a minimum input torque requirement are identified.

Original languageEnglish
Title of host publicationXIV Mediterranean Conference on Medical and Biological Engineering and Computing, MEDICON 2016
EditorsEfthyvoulos Kyriacou, Stelios Christofides, Constantinos S. Pattichis
PublisherSpringer Verlag
Pages590-595
Number of pages6
ISBN (Print)9783319327013
Publication statusPublished - Jan 1 2016
Event14th Mediterranean Conference on Medical and Biological Engineering and Computing, MEDICON 2016 - Paphos, Cyprus
Duration: Mar 31 2016Apr 2 2016

Publication series

NameIFMBE Proceedings
Volume57
ISSN (Print)1680-0737
ISSN (Electronic)1433-9277

Other

Other14th Mediterranean Conference on Medical and Biological Engineering and Computing, MEDICON 2016
CountryCyprus
CityPaphos
Period3/31/164/2/16

Keywords

  • Minimum Jerk Model
  • Rehabilitation
  • Straight-line mechanisms

ASJC Scopus subject areas

  • Bioengineering
  • Biomedical Engineering

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