@article{(Open Science Index):https://publications.waset.org/pdf/10005022, title = {Modeling and Control of a 4DoF Robotic Assistive Device for Hand Rehabilitation}, author = {Christopher Spiewak and M. R. Islam and Mohammad Arifur Rahaman and Mohammad H. Rahman and Roger Smith and Maarouf Saad}, country = {}, institution = {}, abstract = {For those who have lost the ability to move their hand, going through repetitious motions with the assistance of a therapist is the main method of recovery. We have been developed a robotic assistive device to rehabilitate the hand motions in place of the traditional therapy. The developed assistive device (RAD-HR) is comprised of four degrees of freedom enabling basic movements, hand function, and assists in supporting the hand during rehabilitation. We used a nonlinear computed torque control technique to control the RAD-HR. The accuracy of the controller was evaluated in simulations (MATLAB/Simulink environment). To see the robustness of the controller external disturbance as modelling uncertainty (±10% of joint torques) were added in each joints.}, journal = {International Journal of Mechanical and Mechatronics Engineering}, volume = {10}, number = {8}, year = {2016}, pages = {1414 - 1418}, ee = {https://publications.waset.org/pdf/10005022}, url = {https://publications.waset.org/vol/116}, bibsource = {https://publications.waset.org/}, issn = {eISSN: 1307-6892}, publisher = {World Academy of Science, Engineering and Technology}, index = {Open Science Index 116, 2016}, }