Development and Control of a ‘Soft-Actuated’ Exoskeleton for Use in Physiotherapy and Training
Development and Control of a ‘Soft-Actuated’ Exoskeleton for Use in Physiotherapy and Training
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DOI：
10.1023/a:1024484615192
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发表时间：
2003-07
影响因子：
3.5
通讯作者：
N. Tsagarakis;D. Caldwell
中科院分区：
文献类型：
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作者：
N. Tsagarakis;D. Caldwell
由于运动损伤、职业损伤、脊髓损伤和中风，上肢功能完全或部分丧失越来越常见。这些病症的典型治疗依赖于极其劳动密集型的操作物理治疗程序。虽然机械辅助设备存在的四肢，这是罕见的上肢。在本文中，我们描述了一个七度的运动原型上臂训练/康复（外骨骼）系统的建设和测试。无补偿矫形器的总重量小于2 kg。这种低质量主要是由于使用了一系列新的气动肌肉致动器（pMA）作为系统的动力源。这种类型的致动器也具有出色的功率/重量比，满足了安全、简单和轻便的需求。所呈现的工作显示了系统如何利用固有的可控顺应性来产生极其强大的单元，以对患者具有高安全完整性的方式提供广泛的功能（在扩展范围内的运动和力）。介绍了一种训练控制方案，用于控制矫形器作为运动设施使用时。结果表明，该设备作为上肢训练，康复和动力辅助（外骨骼）系统的潜力。
Full or partial loss of function in the upper limb is an increasingly common due to sports injuries, occupational injuries, spinal cord injuries, and strokes. Typically treatment for these conditions relies on manipulative physiotherapy procedures which are extremely labour intensive. Although mechanical assistive device exist for limbs this is rare for the upper body.In this paper we describe the construction and testing of a seven degree of motion prototype upper arm training/rehabilitation (exoskeleton) system. The total weight of the uncompensated orthosis is less than 2 kg. This low mass is primarily due to the use of a new range of pneumatic Muscle Actuators (pMA) as power source for the system. This type of actuator, which has also an excellent power/weight ratio, meets the need for safety, simplicity and lightness. The work presented shows how the system takes advantage of the inherent controllable compliance to produce a unit that is extremely powerful, providing a wide range of functionality (motion and forces over an extended range) in a manner that has high safety integrity for the patient. A training control scheme is introduced which is used to control the orthosis when used as exercise facility. Results demonstrate the potential of the device as an upper limb training, rehabilitation and power assist (exoskeleton) system.