Design of a wearable upper-limb rehabilitation robot using parallel mechanism
Design of a wearable upper-limb rehabilitation robot using parallel mechanism
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发表时间：
2009-11
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通讯作者：
Young-min Kim;Sung-yoon Jung;Inhyuk Moon
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作者：
Young-min Kim;Sung-yoon Jung;Inhyuk Moon
提出了一种可穿戴式上肢瘫痪康复机器人。应用并联机构实现机器人转动中心与用户关节的匹配。机器人有3个自由度：食指，其他三个手指和手腕。采用人工肌肉的方法减轻了机器人的重量。实验结果表明，近节指骨最大伸展角度为85°，腕关节最大伸展角度为90°。
This paper proposes a wearable rehabilitation robot for upper-limb paralysis. The rotation center of robot was matched to the user's joints by applying parallel mechanism. The robot has 3 degrees of freedom: index finger, three other fingers and wrist. The weight of robot was reduced by using artificial muscle. From the experimental result, we show the maximum extension angle of proximal phalange is 85° and wrist is 90°.