Development of 3-d printed exohand for mirror therapy

Download

index.pdf

Date

2022-11

Author

Yılmaz, Tunahan

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

140
views

135
downloads

This thesis presents the modelling and design of a family of exoskeleton mechanisms to be used in post-stroke rehabilitation therapy. The mechanism in question is an exoskeleton worn on the index finger, and it aims to support the fingers of patients who have lost their mobility after paralysis, like a physiotherapist, and to improve motor learning in the patient in this process. Based on motor learning principles, an underactuated mechanism design has been created for this purpose, allowing the patient to make mistakes while also encouraging him to expand the search space. A wide range of phalanges sizes was considered within the design function to reduce the effect of finger sizes on the mechanism. Within the mechanism family, there are fully-actuated and under-actuated versions. While obtaining a fully-actuated design output, it is desired to keep the task space of the mechanism wide. The Global Isotropy Index was used as the metric controlling the end effector’s manipulability for this purpose. The Genetic Algorithm toolbox of the MATLAB program was used for mechanism optimization. After obtaining the output for the fully-actuated mechanism, the evolution of this obtained design into the under-actuated versions was carried out. The Virtual Work method is used to analyse the under-actuated mechanism by obtaining force equations. A method for this transition that is expected to be easily realized is also presented. Following the design, the mechanism was manufactured and tested.

Subject Keywords

Exoskeleton, Global isotropy index, Fully-actuation, Under-actuation, Genetic algorithm

URI

https://hdl.handle.net/11511/101221

Collections

Graduate School of Natural and Applied Sciences, Thesis

Suggestions

OpenMETU
Core

Composite clinoptilolite/PCL-PEG-PCL scaffolds for bone regeneration: In vitro and in vivo evaluation Pazarçeviren, Ahmet Engin; Altunbas, Korhan; Yaprakci, Volkan; Erdemli, Ozge; Keskin, Dilek; Tezcaner, Ayşen (Wiley, 2020-01-01) In this study, clinoptilolite (CLN) was employed as a reinforcement in a polymer-based composite scaffold in bone tissue engineering and evaluated in vivo for the first time. Highly porous, mechanically stable, and osteogenic CLN/PCL-PEG-PCL (CLN/PCEC) scaffolds were fabricated with modified particulate leaching/compression molding technique with varying CLN contents. We hypothesized that CLN reinforcement in a composite scaffold will improve bone regeneration and promote repair. Therefore, the scaffolds we...
Face classification with support vector machine Kepenekci, B; Akar, Gözde (2004-04-30) A new approach to feature based frontal face recognition with Gabor wavelets and support vector machines is presented in this paper. The feature points are automatically extracted using the local characteristics of each individual face. A kernel that computes the similarity between two feature vectors, is used to map the face features to a space with higher dimension. To find the identity of a test face, the possible labels of each feature vector of that face is found with support vector machines, then the ...
Predicting time-dependent remodeling of bone around immediately loaded dental implants with different designs Eser, Atilim; Tönük, Ergin; Akça, Kıvanç; Cehreli, Murat Cavit (Elsevier BV, 2010-01-01) The purpose of this study was to predict time-dependent biomechanics of bone around cylindrical screw dental implants with different macrogeometric designs under simulated immediate loading condition. The remodeling of bone around a parallel-sided and a tapered dental implant of same length was studied under 100 N oblique load by implementing the Stanford theory into three-dimensional finite element models. The results of the analyses were examined in five time intervals consisting loading immediately after...
Use of nanoscale-delivery systems in tissue/organ regeneration Fathi Achachelouei, Milad; Keskin, Dilek; Tezcaner, Ayşen (Elsevier Science, Oxford/Amsterdam , 2020-04-01) iomaterials for Organ and Tissue Regeneration: New Technologies and Future Prospects examines the use of biomaterials in applications related to artificial tissues and organs. With a strong focus on fundamental and traditional tissue engineering strategies, the book also examines how emerging and enabling technologies are being developed and applied. Sections provide essential information on biomaterial, cell properties and cell types used in organ generation. A section on state-of-the-art in organ regenera...
Fabrication of a multi-layered decellularized amniotic membranes as tissue engineering constructs Yuksel, Sumeyye; Asik, Mehmet Dogan; AYDIN, HALİL MURAT; Tönük, Ergin; Aydin, Emin Yusuf; Bozkurt, Murat (2022-02-01) As a promising approach in tissue engineering, decellularization has become one of the mostly-studied research areas in tissue engineering thanks to its potential to bring about several advantages over synthetic materials since it can provide a 3-dimensional ECM structure with matching biomechanical properties of the target tissue. Amniotic membranes are the tissues that nurture the embryos during labor. Similarly, these materials have also been proposed for tissue regeneration in several applications. The ...

Citation Formats

T. Yılmaz, “Development of 3-d printed exohand for mirror therapy,” M.S. - Master of Science, Middle East Technical University, 2022.