Document Type


Date of Award

Fall 1-27-2008

Degree Name

Master of Science in Mechanical Engineering - (M.S.)


Mechanical Engineering

First Advisor

Zhiming Ji

Second Advisor

Ian Sanford Fischer

Third Advisor

E. S. Geskin


This thesis describes the conceptual design of an innovative robotic rehabilitation machine whose purpose is to help in the recovery of people with motor function disabilities. The machine is smaller, simpler and cheaper than current solutions on the market yet it delivers same functionality.

The conceptual development of the gait rehabilitation system also features a human model with average anthropometric dimensions that allows better visualization and understanding of the actual machine operation. The human model is kinematically coupled to the machine and the whole assembly presents a complex mechanism that closely simulates gait training session.

Three-dimensional modeling and analysis techniques were extensively used throughout the study in order to achieve the best design solution. Finally, kinematic position, velocity and acceleration analyses that were performed on the machine set a direction for future research.



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