Open Science Research Excellence
@article{(International Science Index):http://waset.org/publications/10005022,
  title    = {Modeling and Control of a 4DoF Robotic Assistive Device for Hand Rehabilitation},
  author    = {Christopher Spiewak and  M. R. Islam and  Mohammad Arifur Rahaman and  Mohammad H. Rahman and  Roger Smith and  Maarouf Saad},
  country   = {United States},
  institution={University of Wisconsin - Milwaukee},
  abstract  = {For those who have lost the ability to move their hand, going through repetitious motions with the assistance of a therapist is the main method of recovery. We have been developed a robotic assistive device to rehabilitate the hand motions in place of the traditional therapy. The developed assistive device (RAD-HR) is comprised of four degrees of freedom enabling basic movements, hand function, and assists in supporting the hand during rehabilitation. We used a nonlinear computed torque control technique to control the RAD-HR. The accuracy of the controller was evaluated in simulations (MATLAB/Simulink environment). To see the robustness of the controller external disturbance as modelling uncertainty (±10% of joint torques) were added in each joints.},
    journal   = {International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering},  volume    = {10},
  number    = {8},
  year      = {2016},
  pages     = {1414 - 1418},
  ee        = {http://waset.org/publications/10005022},
  url       = {http://waset.org/Publications?p=116},
  bibsource = {http://waset.org/Publications},
  issn      = {eISSN:1307-6892},
  publisher = {World Academy of Science, Engineering and Technology},
  index     = {International Science Index 116, 2016},
}