Design, Characterization, and Validation of the OpenWrist Exoskeleton

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dc.contributor.advisorO'Malley, Marcia Ken_US
dc.creatorPezent, Evanen_US
dc.date.accessioned2017-08-01T18:58:33Zen_US
dc.date.available2017-08-01T18:58:33Zen_US
dc.date.created2017-05en_US
dc.date.issued2017-04-19en_US
dc.date.submittedMay 2017en_US
dc.date.updated2017-08-01T18:58:33Zen_US
dc.description.abstractRobotic devices have been clinically verified for use in long duration and high intensity rehabilitation needed for motor recovery after neurological injury. Targeted and coordinated hand and wrist therapy, often overlooked in rehabilitation robotics, is required to regain the ability to perform activities of daily living. To this end, a new coupled hand-wrist exoskeleton has been designed. This thesis details the design of the wrist module and several human-related considerations made to maximize its potential as a coordinated hand-wrist device. The serial wrist mechanism has been engineered to facilitate donning and doffing for impaired subjects and to insure compatibility with the hand module in virtual and assisted grasping tasks. Several other practical requirements have also been addressed, including device ergonomics, clinician-friendliness, and ambidextrous reconfigurability. The wrist module's capabilities as a rehabilitation training device are quantified experimentally in terms of functional workspace and dynamic properties. Finally, the device is validated as an rehabilitation assessment tool by considering its impact on commonly used assessment metrics. The presented wrist module's performance and operational considerations support its use in a wide range of future clinical investigations.en_US
dc.format.mimetypeapplication/pdfen_US
dc.identifier.citationPezent, Evan. "Design, Characterization, and Validation of the OpenWrist Exoskeleton." (2017) Master’s Thesis, Rice University. <a href="https://hdl.handle.net/1911/96129">https://hdl.handle.net/1911/96129</a>.en_US
dc.identifier.urihttps://hdl.handle.net/1911/96129en_US
dc.language.isoengen_US
dc.rightsCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.en_US
dc.subjectroboten_US
dc.subjectroboticsen_US
dc.subjectexoskeletonen_US
dc.subjectwristen_US
dc.subjecthanden_US
dc.subjectrehabilitationen_US
dc.subjectstrokeen_US
dc.subjectspinalen_US
dc.subjectcorden_US
dc.subjectinjuryen_US
dc.subjectroboticsen_US
dc.titleDesign, Characterization, and Validation of the OpenWrist Exoskeletonen_US
dc.typeThesisen_US
dc.type.materialTexten_US
thesis.degree.departmentMechanical Engineeringen_US
thesis.degree.disciplineEngineeringen_US
thesis.degree.grantorRice Universityen_US
thesis.degree.levelMastersen_US
thesis.degree.nameMaster of Scienceen_US
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