Experiments and kinematics analysis of a hand rehabilitation exoskeleton with circuitous joints.
Experiments and kinematics analysis of a hand rehabilitation exoskeleton with circuitous joints.
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DOI：
10.3233/bme-151358
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发表时间：
2015
影响因子：
1
通讯作者：
Fuhai Zhang;Yili Fu;Qinchao Zhang;Shuguo Wang
中科院分区：
文献类型：
--
作者：
Fuhai Zhang;Yili Fu;Qinchao Zhang;Shuguo Wang
针对脑卒中患者的手部康复，提出了一种可穿戴式迂回关节手外骨骼。迂回关节采用与并联机构对称的齿轮齿条机构。外骨骼手指是由三个闭链SPRM关节串联而成的串联机构。建立了手指开链和SPRM关节闭链的运动学方程，对手康复外骨骼进行了运动学分析。搭建了手部康复外骨骼的实验装置，进行了连续被动运动（CPM）康复实验和人-机器人交互力测量实验。实验结果表明，手部康复机器人的机械设计合理，运动学分析正确，可用于中风患者的手部康复。
Aiming at the hand rehabilitation of stroke patients, a wearable hand exoskeleton with circuitous joint is proposed. The circuitous joint adopts the symmetric pinion and rack mechanism (SPRM) with the parallel mechanism. The exoskeleton finger is a serial mechanism composed of three closed-chain SPRM joints in series. The kinematic equations of the open chain of the finger and the closed chains of the SPRM joints were built to analyze the kinematics of the hand rehabilitation exoskeleton. The experimental setup of the hand rehabilitation exoskeleton was built and the continuous passive motion (CPM) rehabilitation experiment and the test of human-robot interaction force measurement were conducted. Experiment results show that the mechanical design of the hand rehabilitation robot is reasonable and that the kinematic analysis is correct, thus the exoskeleton can be used for the hand rehabilitation of stroke patients.