2026-09-25T07:46:53Zhttps://ubir.buffalo.edu/oai/request

oai:ubir.buffalo.edu:10477/838542025-07-16T19:37:19Zcom_10477_77914col_10477_81567

Design of 3-RRR Parallel Mechanism for a Rehabilitation Device He, Peidong; 0000-0003-4263-8232 Kang, Jiyeon Mechanical and Aerospace Engineering robotics M.S. The present study presents a new type of haptic knob to train dexterous manipulation ofobjects of stroke survivors. The device is structured with a 3-RRR parallel manipulatormounting the handle of the device on the top base. The design parameters are optimizedto acquire maximum workspace and high controllability. The optimization is performedin two steps using the traditional global conditioning index and the newly defined globalminimum effective load. The kinematic structure is verified with the motion capture systemand encoders of motors. The device will be used as a measurement tool for quantifying theactivity range of the patient as well as a training tool to apply resistance for strength trainingduring manipulation. **To request an accessible version of the file(s) associated with this item, contact library@buffalo.edu. Please include the item's persistent URL [http://hdl.handle.net/. . .] in your request.** 2022-06-17T19:54:48Z 2022-06-17T19:54:48Z 2020 Text Thesis http://hdl.handle.net/10477/83854 eng Users of works found in University at Buffalo Institutional Repository (UBIR) are responsible for identifying and contacting the copyright owner for permission to reuse. University at Buffalo Libraries do not manage rights for copyright-protected works and cannot assist with permissions. Copyright retained by author. application/pdf State University of New York at Buffalo