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A 3-DOF End-effector-type Robot with a Spherical Scissor Mechanism for Wrist Rehabilitation Training
A 3-DOF End-effector-type Robot with a Spherical Scissor Mechanism for Wrist Rehabilitation Training
Role: Ph.D. Candidate, NUS | Period: Jun 2020 - Feb 2021
Project Description
Project Description
Aim:
Design a Light and compact 3-DoF End-effector-type Robot for wrist rehabilitation training
Technical Problem:
Mechanical design and sensing for 3-DoF wrist motion are challenging in a confined space
Novel Approach:
Applied Spherical Scissor Mechanism (SSM) for 3-DoF wrist motion
Demonstrated Skills
Demonstrated Skills
Mechanical design with 3D CAD model, and 2D diagram for fabrication with GD&T and China GB Standard
Robot kinematic modelling and simulation with MATLAB
Publications
Publications
Thomas M. Kwok, Haoyong Yu, “An Apparatus with Powered Spherical Scissor Mechanism for Wrist Motion Assistance,” SG Non-Provisional Application No. 10202103449U, 2021
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