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KINEMATIC ANALYSIS of a THUMB-EXOSKELETON SYSTEM for POST STROKE REHABILITATION By KINEMATIC ANALYSIS OF A THUMB-EXOSKELETON SYSTEM FOR POST STROKE REHABILITATION By Vikash Gupta Thesis Submitted to the Faculty of the Graduate School of Vanderbilt University in partial fulfillment of the requirements for the degree of MASTER OF SCIENCE in Mechanical Engineering August, 2010 Nashville, Tennessee Approved: Professor Nilanjan Sarkar Professor Derek Kamper Professor Robert Webster III ACKNOWLEDGEMENTS I will like to extend my sincere thanks to Dr. Nilanjan Sarkar for his continuous support and guidance, for his encouragement and advice throughout my studies. He has always been a source of inspiration for me. I would also like to thank Dr. Derek Kamper from Rehabilitation Institute of Chicago, for providing valuable comments on the thesis and being supportive throughout the research. My deep gratitude and sincere thanks goes to my parents and my sister, Swati Gupta. Their invaluable support, understanding and encouragement from far home has always helped me to continue my research. I would also like to thank Hari Kr. Voruganti, Mukul Singhee, Abhishek Chowdhury, Sayantan Chatterjee and Raktim Mitra for their support. My sincere thanks goes to Nino Dzotsenidze, who has always supported and believed in me and helped me make the right decisions at all times. Without her support and encouragement, it would have not been possible. I would also like to thank and express my sincere gratitude to my colleagues and friends Milind Shashtri, Furui Wang, Yu Tian, Jadav Das and Uttama Lahiri at Robotics and Autonomous Systems Laboratory for their support. Last but not the least, I want to express my humble thanks and appreciation to Suzanne Weiss from the Mechanical Engineering department for always being supportive. 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