Aktif bir bilek ortezin kinematik ve kinetik analizleri

Year 2018, Volume: 24 Issue: 1, 50 - 62, 27.02.2018

Ergin Kılıç Erdi Doğan

Abstract

Aktif
bilek ortezi, ön kol ve bilek ile etkileşim halinde çalışabilen elektromekanik
bir cihaz olup, bu cihaz özellikle mesleği gereği gün içerisinde çok fazla
tekrarlı bilek hareketleri yapmak zorunda kalan kimseler için tasarlanmıştır.
Bu çalışma kapsamında dirsek bölgesinde tendon yırtığı olan (tenisçi ve golfçü
dirseğine sahip) hastaların hem rehabilitasyonları hem de günlük ve mesleki
hayat aktivitelerinin devamı için tasarlanmış olan aktif bilek ortezin
performansının incelenmesi için kinematik ve kinetik analizleri
gerçekleştirilmiştir. Ayrıca rehabilitasyon robotların denetiminde tercih
edilen iki farklı (admitans ve empedans) kontrol mimarileri içinde cihaz
performansı simulasyon ortamında test edilmiştir. Yapılan analizlerden ve
performans testleri sonuçlarından tasarım sürecinin başarıyla sonuçlandırıldığı
görülmüş olup ileriye dönük çalışmalar için cihazın üretim aşamasına
geçilebilecektir.

Keywords

Aktif bilek ortezi, Robotik rehabilitasyon, Tenisçi dirseği, Golfçü dirseği

Kinematics and kinetics analyses of an active wrist orthosis

Abstract

Active
wrist orthosis is an electromechanical device which can work interacting with
forearm and wrist, and this device is especially designed for the ones who
should perform excessively repetitive wrist motions due to their profession. In
the scope of this study, kinematics and kinetics analyses of the active wrist
orthosis, which is designed for the rehabilitation and the continuance of daily
and professional activities of patients having a tendon torn at their elbow
location, are realized in order to show the performance of the device.
Furthermore, the performance of the device under the control of two different
control architectures (admittance and empedance) is also tested in a simulation
environment. The results of the performance tests and the analyses show that
the design process has been successfully accomplished and it can pass through
the production stage of the device for the future work studies.

Keywords

Active wrist orthosis, Robotic rehabilitation, Tennis elbow, Golfer elbow

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