Design of Spiral-Cable Forearm Exoskeleton to Assist Supination for Hemiparetic Stroke Subjects.
Design of Spiral-Cable Forearm Exoskeleton to Assist Supination for Hemiparetic Stroke Subjects.
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用于辅助偏瘫中风患者旋后的螺旋电缆式前臂外骨骼设计
DOI：
10.1109/icorr55369.2022.9896608
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发表时间：
2022-07
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我们提出了一个电缆为基础的被动前臂外骨骼，旨在协助中风偏瘫幸存者旋后的发展。我们的设备独特地提供足以抵消肘下装置内的痉挛的扭矩。该机制包括一个螺旋形的单肌腱路由嵌入在一个刚性前臂支具和终止于手和上前臂。具有内部可释放棘轮机构的线轴允许用户手动缩回肌腱并旋转手以抵消由于中风引起的非自愿旋前协同作用。我们的特点与台式测试和五个健康的主体的机制，并进行初步评估的外骨骼与一个单一的慢性中风受试者具有最小的旋后能力。该机构可以集成到现有的主动式手张开矫形器中，以在抓握任务期间实现旋后支撑，并且还允许未来的致动旋后策略。
We present the development of a cable-based passive forearm exoskeleton that is designed to assist supination for hemiparetic stroke survivors. Our device uniquely provides torque sufficient for counteracting spasticity within a below-elbow apparatus. The mechanism consists of a spiral single-tendon routing embedded in a rigid forearm brace and terminated at the hand and upper-forearm. A spool with an internal releasable-ratchet mechanism allows the user to manually retract the tendon and rotate the hand to counteract involuntary pronation synergies due to stroke. We characterize the mechanism with benchtop testing and five healthy subjects, and perform a preliminary assessment of the exoskeleton with a single chronic stroke subject having minimal supination ability. The mechanism can be integrated into an existing active hand-opening orthosis to enable supination support during grasping tasks, and also allows for a future actuated supination strategy.