%0 Journal Article
	%A Christopher Spiewak and  M. R. Islam and  Mohammad Arifur Rahaman and  Mohammad H. Rahman and  Roger Smith and  Maarouf Saad
	%D 2016
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 116, 2016
	%T Modeling and Control of a 4DoF Robotic Assistive Device for Hand Rehabilitation
	%U https://publications.waset.org/pdf/10005022
	%V 116
	%X 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.
	%P 1414 - 1418