Development of a whole arm wearable robotic exoskeleton for rehabilitation and to assist upper limb movements
Development of a whole arm wearable robotic exoskeleton for rehabilitation and to assist upper limb movements
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DOI：
10.1017/s0263574714000034
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发表时间：
2015-01-01
期刊：
影响因子：
2.7
通讯作者：
Archambault, P. S.
中科院分区：
文献类型：
--
作者：
Rahman, M. H.;Rahman, M. J.;Archambault, P. S.
为了帮助上肢功能受损的肢体残疾人，我们开发了一种新的七自由度外骨骼型机器人，名为上级灵活性运动辅助机器人外骨骼（ETS-MARSE），以减轻日常上肢运动，并为上级肢体提供有效的康复治疗。ETS-MARSE包括肩部运动支撑部分、肘部和前臂运动支撑部分以及手腕运动支撑部分。其设计用于佩戴在上肢的外侧，以提供肩部（垂直和水平屈曲/伸展以及内旋/外旋）、肘部（屈曲/伸展）、前臂（旋前/旋后）和腕关节（桡侧/尺侧偏斜和屈曲/伸展）的自然运动。本文重点介绍的建模，设计，开发和控制的ETS-MARSE。对健康的男性人类受试者进行实验，在这些受试者中以被动康复锻炼的形式进行轨迹跟踪（即，治疗师/临床医生推荐的预编程轨迹）进行。实验结果表明，ETS-MARSE可以有效地进行被动康复治疗。
To assist physically disabled people with impaired upper limb function, we have developed a new 7-DOF exoskeleton-type robot named Motion Assistive Robotic-Exoskeleton for Superior Extremity (ETS-MARSE) to ease daily upper limb movements and to provide effective rehabilitation therapy to the superior extremity. The ETS-MARSE comprises a shoulder motion support part, an elbow and forearm motion support part, and a wrist motion support part. It is designed to be worn on the lateral side of the upper limb in order to provide naturalistic movements of the shoulder (vertical and horizontal flexion/extension and internal/external rotation), elbow (flexion/extension), forearm (pronation/supination), and wrist joint (radial/ulnar deviation and flexion/extension). This paper focuses on the modeling, design, development, and control of the ETS-MARSE. Experiments were carried out with healthy male human subjects in whom trajectory tracking in the form of passive rehabilitation exercises (i.e., pre-programmed trajectories recommended by a therapist/clinician) were carried out. Experimental results show that the ETS-MARSE can efficiently perform passive rehabilitation therapy.