Introduction to Rehabilitation Robotics

Catalog description

Presents the fundamentals of robotics as it is applied to rehabilitation engineering. Specific topics include: the fundamentals of analysis and design of robot manipulators with examples and mini-projects taken from rehabilitation applications pertaining to robotic therapy devices and personal assistants. Additional topics include: overview of rehabilitation robotics field, human-centered design of rehabilitation robots issues and challenges, robot configurations, rigid motions and homogeneous transformations, Denavit-Hartenberg representation, robot kinematics, and inverse kinematics, Euler-Lagrange equations, trajectory generation, sensors, actuators, independent joint control, force control and safety.