ShouldeRO, an alignment-free two-DOF rehabilitation robot for the shoulder complex
ShouldeRO, an alignment-free two-DOF rehabilitation robot for the shoulder complex
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DOI：
10.1109/icorr.2011.5975339
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发表时间：
2011-08
期刊：
影响因子：
--
通讯作者：
B. Dehez;J. Sapin
中科院分区：
文献类型：
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作者：
B. Dehez;J. Sapin
本文提出了一种用于辅助脑卒中患者康复过程中肩部运动的机器人。该机器人具有外骨骼的一般形式，但其特点是对患者的动作原理，不再需要繁琐而精确的机器人和患者关节对齐。它由多关节结构组成，其驱动是由波登电缆保证的。它管理三个旋转自由度（dof）的两个肩膀。相当轻和紧凑，它的近端可以刚性地固定在一个背包结构的病人的背部。它的远端通过被动关节和夹板连接到手臂上，保证了机器人的动作原理，即施加一个垂直于患者手臂的力，无论它的结构如何。文中还给出了该机器人的首个原型，并给出了机器人在三个关节平面上的臂角偏移量等实验结果。
This paper presents a robot aimed to assist the shoulder movements of stroke patients during their rehabilitation process. This robot has the general form of an exoskeleton, but is characterized by an action principle on the patient no longer requiring a tedious and accurate alignment of the robot and patient's joints. It is constituted of a poly-articulated structure whose actuation is deported and transmission is ensured by Bowden cables. It manages two of the three rotational degrees of freedom (DOFs) of the shoulder. Quite light and compact, its proximal end can be rigidly fixed to the patient's back on a rucksack structure. As for its distal end, it is connected to the arm through passive joints and a splint guaranteeing the robot action principle, i.e. exert a force perpendicular to the patient's arm, whatever its configuration. This paper also presents a first prototype of this robot and some experimental results such as the arm angular excursions reached with the robot in the three joint planes.