DESIGN AND VIRTUAL PROTOTYPING OF REHABILITATIONAIDSVenkat

This paper presents the methodology for virtual prototyping of a class of one-of-a-kind assistive devices customizable to the human user. This class consists of passive, articulated mechanical manipulation aids which are physically coupled to the user. We address the synthesis, design, optimization and analysis of such mechanisms in a virtual environment containing models of both the product and the human user. We also develop the theory and methodology for design of planar serial chain mechanisms with revolute joints coupled by cable-pulley transmissions. Finally, we present the design and prototyping of a customized head controlled feeding aid for quadriplegics, as an illustrative example.