Design, control, and evaluation of a spatial active handrest for providing ergonomic support and gravity compensation over a large workspace

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Publication Type dissertation
School or College College of Engineering
Department Mechanical Engineering
Author Sani, Hamidreza Najafi
Title Design, control, and evaluation of a spatial active handrest for providing ergonomic support and gravity compensation over a large workspace
Date 2015-05
Description Most humans have difficulty performing precision tasks, such as writing and painting, without additional physical support(s) to help steady or offload their arm's weight. To alleviate this problem, various passive and active devices have been developed. However, such devices often have a small workspace and lack scalable gravity compensation throughout the workspace and/or diversity in their applications. This dissertation describes the development of a Spatial Active Handrest (SAHR), a large-workspace manipulation aid, to offload the weight of the user's arm and increase user's accuracy over a large three-dimensional workspace. This device has four degrees-of-freedom and allows the user to perform dexterous tasks within a large workspace that matches the workspace of a human arm when performing daily tasks. Users can move this device to a desired position and orientation using force or position inputs, or a combination of both. The SAHR converts the given input(s) to desired velociti
Type Text
Publisher University of Utah
Subject Hardrest; Rehabilitation; Robotics
Dissertation Institution University of Utah
Dissertation Name Doctor of Philosophy
Language eng
Rights Management Copyright © Hamidreza Najafi Sani 2015
Format Medium application/pdf
Format Extent 26,930 bytes
Identifier etd3/id/3837
ARK ark:/87278/s6671ng9
Setname ir_etd
Date Created 2016-06-06
Date Modified 2018-03-14
ID 197388
Reference URL https://collections.lib.utah.edu/ark:/87278/s6671ng9