Shoulder mechanism design of an exoskeleton robot for stroke patient rehabilitation
Shoulder mechanism design of an exoskeleton robot for stroke patient rehabilitation
复制标题
脑卒中康复外骨骼机器人肩部机构设计
DOI：
10.1109/icorr.2011.5975505
复制
发表时间：
2011
期刊：
影响因子：
--
通讯作者：
Ji
中科院分区：
文献类型：
--
作者：
Donghan Koo;P. Chang;M. Sohn;Ji
在日常活动中，肩带的运动对手臂的稳定和定向至关重要。在中风患者的机械臂康复过程中，机器人必须辅助肩带的运动。肩胛骨运动的特点是高度非线性的肱骨方向函数，这对每个人来说都是不同的。因此，使用预先计算的肩带运动是不合适的。如果外骨骼机器人不能很好地模仿患者的肩带运动，机器人的轴线就会与患者的轴线不一致，从而给患者带来活动范围减小和不适。许多外骨骼机器人已经被开发出来，以帮助肩带运动。介绍了这些机器人的肩部机构及其优缺点。本文提出了一种新颖的外骨骼机器人肩部机构设计方案，该方案能够实时完全模拟患者肩带的运动。
Shoulder girdle movement is critical for stabilizing and orientating the arm during daily activities. During robotic arm rehabilitation with stroke patients, the robot must assist movements of the shoulder girdle. Shoulder girdle movement is characterized by a highly nonlinear function of the humeral orientation, which is different for each person. Hence it is improper to use pre-calculated shoulder girdle movement. If an exoskeleton robot cannot mimic the patient's shoulder girdle movement well, the robot axes will not coincide with the patient's, which brings reduced range of motion (ROM) and discomfort to the patients. A number of exoskeleton robots have been developed to assist shoulder girdle movement. The shoulder mechanism of these robots, along with the advantages and disadvantages, are introduced. In this paper, a novel shoulder mechanism design of exoskeleton robot is proposed, which can fully mimic the patient's shoulder girdle movement in real time.
DOI：
10.1109/86.662623
发表时间：
1998-03-01
期刊：
IEEE transactions on rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
影响因子：
--
作者：
Krebs, H I;Hogan, N;Volpe, B T
通讯作者：
Volpe, B T