Development and experimental testing of a portable hand exoskeleton
Development and experimental testing of a portable hand exoskeleton
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便携式手外骨骼的开发和实验测试
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
Y. Volpe
中科院分区：
文献类型：
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作者：
B. Allotta;R. Conti;L. Governi;E. Meli;A. Ridolfi;Y. Volpe
本文介绍了一种创新的手部残疾辅助装置的研制和实验测试阶段。这种机器人装置是基于应用于单一方阵结构的平行运动链，它的设计非常便携，可以方便地帮助身体残疾的人在日常生活中。针对手部张开障碍患者，作者开发了一种基于模型的方法，该方法从患者指尖轨迹的运动捕获开始，能够定义更好地符合此类轨迹的机制。作者通过开发便携式手外骨骼系统(HES)原型并进行适当的初步测试活动，验证了所提出的创新机制。实际样机在一组患者身上的测试阶段目前正在进行中。
In this paper, the development and the experimental testing phases of an innovative assistive device for hand disabilities are presented. This robotic device is based on an parallel kinematic chain applied to a single phalanx architecture and it is designed to be extremely portable to easily assist people with physical disabilities in their everyday lives. Focusing on patients with hand opening disabilities, the authors have developed a model-based methodology which starting from the motion capture of the patient fingertip trajectories is able to define the mechanism that better fits with such trajectories. The authors have validated the proposed innovative mechanism by developing a portable Hand Exoskeleton System (HES) prototype and performing a suitable preliminary testing campaign. The testing phase of the real prototype on a group of patients is currently ongoing.