Design of Shape Memory Alloy-Based Soft Wearable Robot for Assisting Wrist Motion
Design of Shape Memory Alloy-Based Soft Wearable Robot for Assisting Wrist Motion
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DOI：
10.3390/app9194025
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发表时间：
2019-10-01
影响因子：
2.7
通讯作者：
Kyung, Ki-Uk
中科院分区：
文献类型：
--
作者：
Jeong, Jaeyeon;Bin Yasir, Ibrahim;Kyung, Ki-Uk
本文提出了一种基于形状记忆合金（SMA）的可穿戴机器人，该机器人可以辅助下臂操作困难的患者进行手腕运动。由于SMA在设计为螺旋弹簧形状时表现出较高的收缩应变，因此在优化弹簧参数后设计了肌肉状驱动器。所制造的致动器示出了10 N的最大力和40%的最大收缩率。基于SMA的可穿戴机器人，称为软腕辅助（SWA），协助2自由度（DOF）的手腕运动。此外，机器人是完全灵活的，重量为151克的可穿戴部件。腕关节屈曲时测得的最大扭矩为1.32 Nm，其他运动时测得的扭矩大于0.5 Nm。机器人的平均活动范围（ROM）分别为屈曲、伸展、尺侧和桡侧偏斜33.8、30.4、15.4和21.4度。由于SWA的柔软特性，佩戴设备的时间成本短于2分钟，患者自己佩戴时也是如此。从实验结果来看，SWA有望支持患者日常活动（ADL）的手腕运动。
In this paper, we propose a shape memory alloy (SMA)-based wearable robot that assists the wrist motion for patients who have difficulties in manipulating the lower arm. Since SMA shows high contraction strain when it is designed as a form of coil spring shape, the proposed muscle-like actuator was designed after optimizing the spring parameters. The fabricated actuator shows a maximum force of 10 N and a maximum contraction ratio of 40%. The SMA-based wearable robot, named soft wrist assist (SWA), assists 2 degrees of freedom (DOF) wrist motions. In addition, the robot is totally flexible and weighs 151g for the wearable parts. A maximum torque of 1.32 Nm was measured for wrist flexion, and a torque of larger than 0.5 Nm was measured for the other motions. The robot showed the average range of motion (ROM) with 33.8, 30.4, 15.4, and 21.4 degrees for flexion, extension, ulnar, and radial deviation, respectively. Thanks to the soft feature of the SWA, time cost for wearing the device is shorter than 2 min as was also the case for patients when putting it on by themselves. From the experimental results, the SWA is expected to support wrist motion for diverse activities of daily living (ADL) routinely for patients.