Aktif bir bilek ortezin kinematik ve kinetik analizleri

Öz

Aktif bilek ortezi, ön kol ve bilek ile etkileşim halinde çalışabilen elektromekanik bir cihaz olup, bu cihaz özellikle mesleği gereği gün içerisinde çok fazla tekrarlı bilek hareketleri yapmak zorunda kalan kimseler için tasarlanmıştır. Bu çalışma kapsamında dirsek bölgesinde tendon yırtığı olan (tenisçi ve golfçü dirseğine sahip) hastaların hem rehabilitasyonları hem de günlük ve mesleki hayat aktivitelerinin devamı için tasarlanmış olan aktif bilek ortezin performansının incelenmesi için kinematik ve kinetik analizleri gerçekleştirilmiştir. Ayrıca rehabilitasyon robotların denetiminde tercih edilen iki farklı (admitans ve empedans) kontrol mimarileri içinde cihaz performansı simulasyon ortamında test edilmiştir. Yapılan analizlerden ve performans testleri sonuçlarından tasarım sürecinin başarıyla sonuçlandırıldığı görülmüş olup ileriye dönük çalışmalar için cihazın üretim aşamasına geçilebilecektir.

Anahtar Kelimeler

• Aktif bilek ortezi,Robotik rehabilitasyon,Tenisçi dirseği,Golfçü dirseği

Kinematics and kinetics analyses of an active wrist orthosis

Öz

Active wrist orthosis is an electromechanical device which can work interacting with forearm and wrist, and this device is especially designed for the ones who should perform excessively repetitive wrist motions due to their profession. In the scope of this study, kinematics and kinetics analyses of the active wrist orthosis, which is designed for the rehabilitation and the continuance of daily and professional activities of patients having a tendon torn at their elbow location, are realized in order to show the performance of the device. Furthermore, the performance of the device under the control of two different control architectures (admittance and empedance) is also tested in a simulation environment. The results of the performance tests and the analyses show that the design process has been successfully accomplished and it can pass through the production stage of the device for the future work studies.

Anahtar Kelimeler

• Active wrist orthosis,Robotic rehabilitation,Tennis elbow,Golfer elbow

Kaynakça

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