Robots have been demonstrated to assist the rehabilitation of patients with upper or lower limb disabilities. To make exoskeleton robots more friendly and accessible to patients, they need to be lightweight and compact without major performance tradeoffs. Existing upper-limb exoskeleton robots focus on the assistance of the coarse-motion of the upper arm while the fine-motion rehabilitation of the forearm is often ignored. This paper presents a wrist robot with three degrees-of-freedom. Using a geared bearing, slider crank mechanisms, and a spherical mechanism, this robot can provide the complete motion assistance for the forearm. The optimized robot dimensions allow large torque and rotation output while the motors are placed parallel to the forearm. Thus lightweight, compactness, and better inertia properties can be achieved. Linear and rotary series elastic actuators (SEAs) with high torque-to-weight ratios are proposed to accurately measure and control the interaction force and impedance between the robot and the wrist. The resulting 1.5-kg robot can be used alone or easily in combination with other robots to provide various robot-aided upper limb rehabilitation.

中文翻译：

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紧凑的腕部康复机器人，具有精确的力/刚度控制和错位适应

已经证明机器人可以帮助上肢或下肢残疾的患者康复。为了使外骨骼机器人对患者更友好，更易接近，它们需要轻巧紧凑，并且在性能上不做任何权衡。现有的上肢外骨骼机器人专注于上臂粗运动的辅助，而前臂的精细运动康复常常被忽略。本文提出了一种具有三个自由度的腕式机器人。通过使用齿轮轴承，曲柄滑块机构和球形机构，该机器人可以为前臂提供完整的运动辅助。优化的机械手尺寸允许在电机平行于前臂放置时产生较大的扭矩和旋转输出。因此，可以实现轻便，紧凑和更好的惯性。提出了具有高转矩重量比的线性和旋转系列弹性执行器（SEA），以精确地测量和控制机器人与手腕之间的相互作用力和阻抗。最终的1.5公斤机器人可以单独使用，也可以与其他机器人轻松组合使用，以提供各种机器人辅助的上肢康复治疗。