A joint project of the Graduate School, Peabody College, and the Jean & Alexander Heard Library

Title page for ETD etd-06172010-164730

Type of Document Master's Thesis
Author Gupta, Vikash
Author's Email Address write2vikash@gmail.com
URN etd-06172010-164730
Title Kinematic Analysis of a Thumb-Exoskeleton System for Post-Stroke Rehabilitation
Degree Master of Science
Department Mechanical Engineering
Advisory Committee
Advisor Name Title
Dr. Nilanjan Sarkar Committee Chair
Dr. Derek Kamper Committee Member
Dr. Robert Webster III Committee Member
  • Thumb exoskeleton
  • Kinematic Analysis
  • Kinematics
  • Thumb Rehabilitation
  • Thumb-exoskeleton
Date of Defense 2010-06-10
Availability unrestricted
Stroke is one of the major causes of loss if dexterity in human hand, preventing effective self-care and employment opportunities among the patients. In this thesis, an exoskeleton device for thumb rehabilitation is discussed. Subsequently, a mathematical framework for modeling the exoskeleton is developed. A kinematic analysis for the coupled motion of the thumb-exoskeleton system is presented. Later on, in the thesis a closed-loop inverse kinematics scheme is implemented. The thumb-exoskeleton is a redundant system. The redundancy is resolved at the velocity and acceleration levels to limit the motion of the thumb within the natural range of motion of the thumb.
  Filename       Size       Approximate Download Time (Hours:Minutes:Seconds) 
 28.8 Modem   56K Modem   ISDN (64 Kb)   ISDN (128 Kb)   Higher-speed Access 
  VikashGupta_mastersthesis.pdf 15.43 Mb 01:11:25 00:36:44 00:32:08 00:16:04 00:01:22

Browse All Available ETDs by ( Author | Department )

If you have more questions or technical problems, please Contact LITS.