This article introduces the design and the experimental validation of the Trackhold, a novel mechanical motion-tracker for upper limb physical rehabilitation. The Trackhold is based on a passively balanced mechanism that can approximately relieve the weight of the patient’s arm regardless of the position. The system features a novel kinematic architecture with large workspace and custom developed joint sensors providing accurate real-time measure of the upper limb posture. The design approach of the device, which went through kinetostatic and dynamic analyses, is presented and details on the employed mechatronic solutions are provided. A prototype of the Trackhold has been fabricated and functionally validated.
Trackhold: A Novel Passive Arm-Support Device
Manuscript received January 30, 2015; final manuscript received September 18, 2015; published online November 24, 2015. Assoc. Editor: Marcia K. O'Malley.
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Lenzo, B., Fontana, M., Marcheschi, S., Salsedo, F., Frisoli, A., and Bergamasco, M. (November 24, 2015). "Trackhold: A Novel Passive Arm-Support Device." ASME. J. Mechanisms Robotics. April 2016; 8(2): 021007. https://doi.org/10.1115/1.4031716
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