@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},