Development of an Elbow-Forearm Interlock Joint Mechanism Toward an Exoskeleton for Patients with Essential Tremor
Development of an Elbow-Forearm Interlock Joint Mechanism Toward an Exoskeleton for Patients with Essential Tremor
复制标题
开发针对特发性震颤患者外骨骼的肘前臂互锁关节机构
DOI：
10.1109/iros.2014.6942837
复制
发表时间：
2014
期刊：
影响因子：
--
通讯作者：
Masakatsu G. Fujie
中科院分区：
文献类型：
--
作者：
uya Matsumoto;Motoyuki Amemiya;Daisuke Kaneishi;Yasutaka Nakashima;Masatoshi Seki;Takeshi Ando;Yo Kobayashi;Hiroshi Iijima;Masanori Nagaoka;Masakatsu G. Fujie
特发性震颤（ET）是一种引起不自主振荡的疾病。ET患者在日常生活活动中面临严重困难，如进食，饮水和写作。我们一直在开发一种外骨骼来抑制震颤并支持ET患者的进食运动。本研究的目的是提出一种被动的机制，防止出现的代偿性肩关节运动，而不使用致动器。本研究的基本概念是建立肘关节两自由度运动的协调机构。可穿戴机器人将肘关节的两自由度运动约束为被动的一自由度运动。对机器人的机构和约束机构进行了优化设计，以减少进食过程中的补偿运动。为了开发这种机制，我们首先分析了进食运动，以获得所需的机制规格。然后，我们提出了一个原型的基础上的需求。最后，我们评估原型减少补偿运动的效果。实验结果表明，所设计的样机具有很好的减阻效果。作为后续工作，我们将对机构的结构和材料进行优化，以减轻机构的重量。
An essential tremor (ET) is a disorder that causes involuntary oscillations. ET patients face serious difficulties in performing such daily living activities as eating, drinking, and writing. We have been developing an exoskeleton to suppress tremors and support the eating movements of ET patients. The objective of this study is to propose a passive mechanism that prevents the appearance of the compensatory shoulder movement without using an actuator. The basic concept of this study is developing the mechanism to coordinate two DoF movement of elbow joint. Two DoF movement of elbow joint is constrained to passive one DoF by our wearable robot. The mechanism of our robot and constrain mechanism is optimally designed to reduce the compensatory movement during eating movement. To develop such mechanism, we first analysed the eating movement to derive the required specification of the mechanism. Then, we proposed a prototype based on the requirement. Finally, we evaluate the effect of the prototype to reduce the compensatory movement. It is confirmed that the proposed prototype had great effect on the reduction. As a future work, we will optimize the structure and the material of the mechanism to reduce the weight of the mechanism.