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• W2950084114 abstract "The paper focuses on the design and simulation of the 4-bar linkage mechanism (including human limb as a link) with a compliant joint over-actuated by multiple electroactive polymers (EAPs). Multiple EAPs with elastic elements compose the compliant joint, provide safety of the mechanism and 3 rotational degrees of freedom of the human joint depending on their connecting and acting modes․ The linkage mechanism introduced in this paper has the ad-vantage of mechanical and kinematic simplicity compared to the existing devices while at the same time it is fully capable of carrying out all the exercises required by a rehabilitation treatment. The analysis undergoing the optimal synthesis of the linkage mechanism leads towards the maximization of human joint rotation range, dexterity, torque output, ensures lightness and compactness of the device. The proposed device makes use of actuation redundancy to eliminate singularity, allows to operate with increased number of less powerful EAPs (compared to some types of permissible actuators, such as electromechanical, pneumatic artificial muscles) and greatly improves the workspace dexterity. Finally, the performance of the mechanism as a rehabilitation device of a hip joint is studied by using MSC ADAMS." @default.
• W2950084114 created "2019-06-27" @default.
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• W2950084114 date "2019-01-01" @default.
• W2950084114 modified "2023-09-26" @default.
• W2950084114 title "Dynamic modeling of a new over-actuated compliant joint mechanism for human limb rehabilitation" @default.
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• W2950084114 doi "https://doi.org/10.1007/978-3-030-20131-9_176" @default.
• W2950084114 hasPublicationYear "2019" @default.
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