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dc.contributor.authorXydas, E.en
dc.contributor.authorHerodotou, P.en
dc.contributor.authorLouca, Loucas S.en
dc.contributor.authorMueller, A.en
dc.contributor.editorE, Kyriacouen
dc.contributor.editorS, Christofidesen
dc.contributor.editorPattichis, C. S.en
dc.creatorXydas, E.en
dc.creatorHerodotou, P.en
dc.creatorLouca, Loucas S.en
dc.creatorMueller, A.en
dc.description.abstractIt 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. © Springer International Publishing Switzerland 2016.en
dc.publisherSpringer Verlagen
dc.sourceIFMBE Proceedingsen
dc.subjectBiochemical engineeringen
dc.subjectMedical computingen
dc.subjectBiological organsen
dc.subjectClosed kinematic chainsen
dc.subjectGenerating mechanismen
dc.subjectGeometrical characteristicsen
dc.subjectIntegrated passive elementsen
dc.subjectMinimum Jerk Modelen
dc.subjectMotion controlen
dc.subjectOptimization proceduresen
dc.subjectPatient rehabilitationen
dc.subjectStraight-line mechanismsen
dc.subjectUpper-limb rehabilitationen
dc.titleEffect of links’ center of gravity position on the performance of a four-bar linkage as an upper limb rehabilitation mechanism: A parametric studyen
dc.description.endingpage595Πολυτεχνική Σχολή / Faculty of EngineeringΤμήμα Μηχανικών Μηχανολογίας και Κατασκευαστικής / Department of Mechanical and Manufacturing Engineering
dc.type.uhtypeConference Objecten
dc.contributor.orcidLouca, Loucas S. [0000-0002-0850-2369]

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