{"id":{"repo_id":"buffalo","oai_identifier":"oai:ubir.buffalo.edu:10477/83854"},"canonical_url":"https://search.dev.ndltd.org/etd/buffalo/oai:ubir.buffalo.edu:10477/83854","repository":{"repo_id":"buffalo","name":"Buffalo","base_url":"https://ubir.buffalo.edu/oai/request"},"display":{"title":"Design of 3-RRR Parallel Mechanism for a Rehabilitation Device","abstract":"M.S.","abstract_html":"M.S.","abstract_has_math":false,"creators":["He, Peidong; 0000-0003-4263-8232"],"institution":"State University of New York at Buffalo","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":null,"school":null,"contributors":["Kang, Jiyeon","Mechanical and Aerospace Engineering"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2022,"date_issued":"2022-06-17T19:54:48Z","date_published":"2022-06-17T19:54:48Z","updated_at":"2026-07-27T19:05:28Z","subjects":["robotics"],"languages":["eng"],"rights":["Users of works found in University at Buffalo Institutional Repository (UBIR) are responsible for identifying and contacting the copyright owner for permission to reuse. University at Buffalo Libraries do not manage rights for copyright-protected works and cannot assist with permissions.","Copyright retained by author."],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/10477/83854","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Kang, Jiyeon","Mechanical and Aerospace Engineering"]},{"key":"dc:creator","label":"Author","values":["He, Peidong; 0000-0003-4263-8232"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2022-06-17T19:54:48Z","2020"]},{"key":"dc:publisher","label":"Institution","values":["State University of New York at Buffalo"]},{"key":"dc:type","label":"Dc Type","values":["Text","Thesis"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["robotics"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["eng"]},{"key":"dc:rights","label":"Dc Rights","values":["Users of works found in University at Buffalo Institutional Repository (UBIR) are responsible for identifying and contacting the copyright owner for permission to reuse. University at Buffalo Libraries do not manage rights for copyright-protected works and cannot assist with permissions.","Copyright retained by author."]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/10477/83854"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["M.S.","The present study presents a new type of haptic knob to train dexterous manipulation ofobjects of stroke survivors. The device is structured with a 3-RRR parallel manipulatormounting the handle of the device on the top base. The design parameters are optimizedto acquire maximum workspace and high controllability. The optimization is performedin two steps using the traditional global conditioning index and the newly defined globalminimum effective load. The kinematic structure is verified with the motion capture systemand encoders of motors. The device will be used as a measurement tool for quantifying theactivity range of the patient as well as a training tool to apply resistance for strength trainingduring manipulation.","**To request an accessible version of the file(s) associated with this item, contact library@buffalo.edu. Please include the item's persistent URL [http://hdl.handle.net/. . .] in your request.**"]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Design of 3-RRR Parallel Mechanism for a Rehabilitation Device"]}]}],"canonical_facts":{"dc:contributor":["Kang, Jiyeon","Mechanical and Aerospace Engineering"],"dc:creator":["He, Peidong; 0000-0003-4263-8232"],"dc:date":["2022-06-17T19:54:48Z","2020"],"dc:description":["M.S.","The present study presents a new type of haptic knob to train dexterous manipulation ofobjects of stroke survivors. The device is structured with a 3-RRR parallel manipulatormounting the handle of the device on the top base. The design parameters are optimizedto acquire maximum workspace and high controllability. The optimization is performedin two steps using the traditional global conditioning index and the newly defined globalminimum effective load. The kinematic structure is verified with the motion capture systemand encoders of motors. The device will be used as a measurement tool for quantifying theactivity range of the patient as well as a training tool to apply resistance for strength trainingduring manipulation.","**To request an accessible version of the file(s) associated with this item, contact library@buffalo.edu. Please include the item's persistent URL [http://hdl.handle.net/. . .] in your request.**"],"dc:format":["application/pdf"],"dc:identifier":["http://hdl.handle.net/10477/83854"],"dc:language":["eng"],"dc:publisher":["State University of New York at Buffalo"],"dc:rights":["Users of works found in University at Buffalo Institutional Repository (UBIR) are responsible for identifying and contacting the copyright owner for permission to reuse. University at Buffalo Libraries do not manage rights for copyright-protected works and cannot assist with permissions.","Copyright retained by author."],"dc:subject":["robotics"],"dc:title":["Design of 3-RRR Parallel Mechanism for a Rehabilitation Device"],"dc:type":["Text","Thesis"]},"updated_at":"2026-07-27T19:05:28Z"}