A 10-DEGREE OF FREEDOM EXOSKELETON REHABILITATION ROBOT WITH ERGONOMIC SHOULDER ACTUATION MECHANISM
A 10-DEGREE OF FREEDOM EXOSKELETON REHABILITATION ROBOT WITH ERGONOMIC SHOULDER ACTUATION MECHANISM
复制标题
具有符合人体工学肩部驱动机构的10自由度外骨骼康复机器人
DOI：
10.1142/s0219843611002344
复制
发表时间：
2011-03-01
影响因子：
1.5
通讯作者：
Huang, Xiaolin
中科院分区：
文献类型：
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作者：
Chen, Wenbin;Xiong, Caihua;Huang, Xiaolin
机器人辅助训练具有训练强度大、持续时间长、可重复性好、任务导向性强等优点，已成为脑卒中康复治疗中一项很有前途的技术。对于人体上肢而言，人体上肢的自然协调性（称为肩关节节律）是人体肩部外骨骼设计的最大挑战。在对肩关节运动进行运动学分析的基础上，提出了一种基于气动肌肉通过鲍登索传力驱动六自由度肩关节驱动机构的10自由度外骨骼康复机器人。描述了肩胛带运动与肱骨前屈/后屈、外展/内收的运动学关系。提出了一种紧凑的缆索张紧机构和缆索分接机构，实现了缆索的自动张紧和驱动单元/操作单元的分离。为了验证所提出的机器人在协助患者进行日常生活活动（ADL）期间的可操作性，性能标准，即，采用标准化灵巧度指标和可操作性椭球，与人体上肢进行评价和比较。评价结果证实了康复机器人肩部机构的人机工程学设计，可以提供近似人类上肢的灵活性在ADL。
Due to the advantages of more intensiveness, long duration, repeatability, and task-orientation, robot-assistant training has become a promising technology in stroke rehabilitation. Regarding the upper extremity, the natural coordination called shoulder rhythm is the most challenge to the design of ergonomic shoulder exoskeleton. Based on kinematic analysis of movement of shoulder complex, a 10-degree-of-freedom (DoF) exoskeleton rehabilitation robot with six-DoF shoulder actuation mechanism driven by pneumatic muscle through Bowden cable transmitting force is proposed. The kinematic relationship between shoulder girdle motion and the humerus flexion/retroflexion and abduction/adduction was described. The compact mechanisms for cable tension and cable disconnect/connect respectively were proposed to realize the cable automatic tension and drive-unit/manipulating-unit detachment. In order to verify the manipulability of the proposed robot during assisting patient with performing activities of daily living (ADLs), the performance criteria, i.e., normalized dexterity measure and manipulability ellipsoid, are used to evaluate and compare with human upper extremity. The evaluated results confirm the ergonomic design of shoulder mechanism of the rehabilitation robot that can provide approximate dexterity of human upper extremity in ADLs.