Design, Control, and Experimental Evaluation of A Novel Robotic Glove System for Patients with Brachial Plexus Injuries.
Design, Control, and Experimental Evaluation of A Novel Robotic Glove System for Patients with Brachial Plexus Injuries.
复制标题
针对臂丛神经损伤患者的新型机器人手套系统的设计、控制和实验评估。
DOI：
10.1109/tro.2022.3220973
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发表时间：
2023
期刊：
影响因子：
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通讯作者：
Ben-Tzvi,Pinhas
中科院分区：
文献类型：
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作者：
Xu,Wenda;Guo,Yunfei;Bravo,Cesar;Ben-Tzvi,Pinhas
本文介绍了一种外骨骼手套系统的发展，用于患有臂丛神经损伤的人，旨在帮助他们失去抓握功能。该机器人系统由便携式手套系统和嵌入式控制器组成。该手套系统由线性串联弹性致动器、旋转串联弹性致动器和优化的手指连杆组成，以模拟每个手指的人体运动和手部的耦合运动。研究了平衡功能、可移植性和稳定性的设计原则和优化策略。提出并比较了基于模型补偿间隙模型的力控制策略和无模型力控制策略。结果表明，所提出的无模型控制方法达到了精确力控制的目的。最后，利用所研制的外骨骼手套集成系统样机进行了实验。来自3个受试者的150次试验结果表明，我们提出的外骨骼手套系统有可能被用作患者的康复设备。
This article presents the development of an exoskeleton glove system for people who suffer from brachial plexus injuries, aiming to assist their lost grasping functionality. The robotic system consists of a portable glove system and an embedded controller. The glove system consists of linear series elastic actuators, rotary series elastic actuators, and optimized finger linkages to provide imitated human motion to each finger and a coupled motion of the hand. The design principles and optimization strategies were investigated to balance functionality, portability, and stability. The model-based force control strategy compensated with a backlash model and model-free force control strategy are presented and compared. Results show that our proposed model-free control method achieves the goal of accurate force control. Finally, experiments were conducted with the prototype of the developed integrated exoskeleton glove system. Results from three subjects with 150 trials show that our proposed exoskeleton glove system has the potential to be used as a rehabilitation device for patients.