4922

4626

كارشناسي ارشد

طراحي كاربردي

اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك

1388

[سيزده]، 115ص: مصور، جدول، نمودار

ص.ع. به فارسي و انگليسي

عباس فتاح

مهدي كشميري

20/10/88

محمد جعفر صديق، مصطفي غيور

1396/09/25

كتابنامه

مهندسي مكانيك

ID4626

به فارسي و انگليسي: قابل رويت در نسخه ديجيتال

Design of a Hybrid Active and Passive Assistive Robot for Sit to Stand Task Marzieh Hajiaghamemar Memar marzieh@gmail com 21 June 2009 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 IranDegree M Sc Language FarsiDr Abbas Fattah Fattah@cc iut ac ir AbstractSit to stand STS movement is one of the most common and demanding daily activities which is also a pre requisite for other functional movements that require ambulation like walking jogging or jumping In spite ofthe importance of sit to stand motion many people have difficulty to do this simple movement therefore design of an assistive device aimed at assisting physically impaired individuals specially elderly peoplewhen rising from a sitting to standing position is useful In this thesis first we analyze STS movement kinematically and dynamically to consider the effects ofdifferent parameters This consideration shows that bending the trunk and using of hand as support reduce therequired joint torques Also it has been shown that the contribution to the joint torques by the gravitationaltorques is dominant during STS motion Therefore we use hybrid gravity balancing method to reduce therequired joint torques All the previous rehabilitative devices designed and manufactured for STS motion are completely passive oractive and both of these devices have their advantages and disadvantages In this thesis a hybrid active andpassive robot is designed to take advantages of both active and passive devices Passive parts uses auxiliaryparallelograms to identify the center of mass of the system and two appropriate springs connected to deviceto reduce the required joint torques Auxiliary parallelogram links that locate the center of mass connect to 3principal links that connect to the shank thigh and trunk Auxiliary parallelogram links and principal links ismade to be telescopic to accommodate variability in the leg dimensions and inertia across human subjects By exerting the passive part on body the only significant remaining joint torque is in the knee Most of agedpeople have muscular weakness in the knee Based on these facts we use of an actuator with an appropriatecontroller for remaining joint torque in the knee At the end of this thesis this hybrid active and passive assistive device is compared with active and passivedevices Using this device user needs insignificant force for STS movement and thus it improves the qualityof life for individuals with difficulties in standing up particularly elderly people Providing the remainingjoint torques in hip and ankle by user prevents of reducing the remaining physical strength This device isable to be portable and connected to a wheelchair Key Words Gravity Balance Rehabilitation device Sit to Stand STS Wheelchair Active rehabilitative device Passiverehabilitative device

عباس فتاح

مهدي كشميري

محمد جعفر صديق، مصطفي غيور