Design and Analysis of an Exoskeleton Robot for Index Finger Rehabilitation

被引：1
|
作者：
Tian Y. [1 ]
Wang H. [1 ,2 ,3 ]
Liu Y. [4 ]
Du J. [1 ,5 ]
Niu J. [1 ,5 ]
机构：
[1] Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao
[2] Academy for Engineering & Technology, Fudan University, Shanghai
[3] Shanghai Clinical Research Center for Aging and Medicine, Shanghai
[4] Qinhuangdao Haigang Hospital, Qinhuangdao
[5] Key Laboratory of Advanced Forging & Stamping Technology, Science of Ministry of Education, Yanshan University, Qinhuangdao
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2023年 / 59卷 / 09期
关键词：
finger rehabilitation; kinematic analysis; performance test; simulation validation; workspace;
D O I：
10.3901/JME.2023.09.040
中图分类号：
学科分类号：
摘要：
To tackle the problems of insufficient precision of operation as well as poor human-machine compatibility of conventional hand rehabilitation robots, a novel underactuated index finger exoskeleton is proposed based on human anatomy to meet the clinical demand. By adopting the combination of 2-UPS parallel mechanism and Bowden wire, two degree-of-freedom active movements of the metacarpophalangeal joint are accomplished, and the operation precision of the robot is enhanced. During the design process, the phalanx is regarded as a part of the human-machine closed chain and the coupling relationship between the flexion/extension and the adduction/abduction movements is discussed to clarify the relationship of the constraint conditions during the rehabilitation training, which improves the coordination characteristics in the movement between human and robot and also the human-machine compatibility. The inverse kinematics of the mechanism is solved, the workspace is analyzed through both the theoretical analysis and simulation verification. A prototype is built to test the robot's performance, and based on the questionnaire of 15 subjects, the comfortability of the device is evaluated by using the analytic hierarchy process. The results show that this robot can satisfy the rehabilitation needs of patients. © 2023 Editorial Office of Chinese Journal of Mechanical Engineering. All rights reserved.
引用
收藏
页码：40 / 50
页数：10
相关论文
共 22 条
  • [1] JIA Jie, Hand function rehabilitation, pp. 22-38, (2019)
  • [2] WU Hongjian, LI Lina, LI Long, Et al., Review of comprehensive intervention by hand rehabilitation robot after stroke[J], Journal of Biomedical Engineering, 36, 1, pp. 151-156, (2019)
  • [3] Bin FANG, SUN Baixin, CHENG Guang, Et al., Summary of the research on the interaction of tightly coupled physical human-machine system[J], Journal of Mechanical Engineering, 57, 17, pp. 10-20, (2021)
  • [4] CHENG Hong, HUANG Rui, QIU Jing, Et al., A survey of rehabilitation robot and its clinical applications[J], Robot, 43, 5, pp. 606-619, (2021)
  • [5] ORLANDO M F, BEHERA L, DUTTA A, Et al., Optimal design and redundancy resolution of a novel robotic two-fingered exoskeleton[J], IEEE Transactions on Medical Robotics and Bionics, 2, 1, pp. 59-75, (2020)
  • [6] SATOSHI I, HARUHISA K, YASUHIKO I, Et al., A design of fine motion assist equipment for disabled hand in robotic rehabilitation system[J], Journal of The Franklin Institute, 348, 1, pp. 79-89, (2011)
  • [7] ZHENG Yang, CHEN Lei, WANG Gang, Et al., A structure optimal design of training devices for the under-actuated hand rehabilitation[J], Journal of Xi’an Jiaotong University, 49, 3, pp. 151-156, (2015)
  • [8] JO I，, PARK Y, LEE J, Et al., A Portable and spring-guided hand exoskeleton for exercising flexion/extension of the fingers[J], Mechanism and Machine Theory, 135, 1, pp. 176-191, (2019)
  • [9] BUTZER T, LAMBERCY O, ARATA J, Et al., Fully wearable actuated soft exoskeleton for grasping assistance in everyday activities[J], Soft Robotics, 8, 2, pp. 1-16, (2020)
  • [10] Jiting LI, Shuang WANG, WANG Ju, Et al., Development of a Hand exoskeleton system for index finger rehabilitation[J], Chinese Journal of Mechanical Engineering, 25, 2, pp. 223-233, (2012)
123