Low-Profile Two-Degree-of-Freedom Wrist Exoskeleton Device Using Multiple Spring Blades
Low-Profile Two-Degree-of-Freedom Wrist Exoskeleton Device Using Multiple Spring Blades
复制标题
DOI：
10.1109/lra.2017.2739802
复制
发表时间：
2018-01-01
影响因子：
5.2
通讯作者：
Arata, Jumpei
中科院分区：
文献类型：
--
作者：
Higuma, Tomohito;Kiguchi, Kazuo;Arata, Jumpei
机器人辅助康复治疗是使用机器人设备进行的治疗，该设备引导或辅助运动，在某些情况下由生物信号(如肌电信号或脑信号)触发，在损伤后恢复运动功能是有效的。在康复机器人和人类支援机器人领域，外骨骼机器人在上肢和下肢方面都得到了广泛的研究。将外骨骼应用于手腕关节仍然具有挑战性，因为手腕在一个比其他上肢和下肢关节的结构更小的结构中具有两个自由度，并且由于复杂的解剖结构，旋转中心根据运动而移动。为了解决这个问题，我们开发了一种手腕外骨骼机构，它由两个弹性元件组成，在运动过程中从使用者前臂上安装的两个线性致动器传送力，并将力转换为手腕屈/伸和内收/外展。该装置的优点是结构紧凑，重量轻，弹性结构使其具有固有的灵活性。本文对新开发的手腕外骨骼机构、原型实现和初步机械评估进行了概述。外骨骼的技术验证揭示了产生能够产生手腕屈曲/伸展和内收/外展运动的力的可行性。
Robotically assisted rehabilitation therapy, which is therapy performed using a robotic device that guides or assists motion and in some cases triggered by a biological signal (such as a myoelectric signal or brain signal) is effective in recovering motor function following impairment. In the field of rehabilitation robots and human support robot, exoskeleton robots have been widely studied both for upper and lower limbs. Applying the exoskeleton to a wrist joint remains challenging because the wrist has two degrees of freedom in a structure smaller than the structures of other upper and lower limb joints and the center of rotation moves according to motion owing to the complex anatomical structure. To tackle this problem, we developed a wrist exoskeleton mechanism that consists of two elastic elements that largely deform during motion in transmitting forces from two linear actuators implemented on the user's forearm and in transforming the forces to wrist flexion/extension and adduction/abduction. The advantages of the presented device are the device's compactness, low weight, and inherent flexibility due to the elastic structure. The present letter presents an overview of the newly developed wrist exoskeleton mechanism, prototype implementation, and preliminary mechanical evaluations. The technical verification of the exoskeleton revealed the feasibility of generating forces that can generate wrist flexion/extension and adduction/abduction movements.