当前位置: X-MOL 学术Soft Robot. › 论文详情
Our official English website, www.x-mol.net, welcomes your feedback! (Note: you will need to create a separate account there.)
Fully Wearable Actuated Soft Exoskeleton for Grasping Assistance in Everyday Activities
Soft Robotics ( IF 6.4 ) Pub Date : 2021-04-16 , DOI: 10.1089/soro.2019.0135
Tobias Bützer 1 , Olivier Lambercy 1 , Jumpei Arata 2 , Roger Gassert 1
Affiliation  

Worldwide, over 50 million people suffer from persistent hand impairments after stroke or spinal cord injury (SCI). This results in major loss of independence and quality of life. Robotic hand exoskeletons can compensate for lost motor function and assist in grasping tasks performed in everyday activities. Several recent prototypes can partially provide this assistance. However, it remains challenging to integrate the dexterity required for daily tasks in a safe and user-friendly design that is acceptable for daily use in subjects with neuromotor hand impairments. We present the design of RELab tenoexo; a fully wearable assistive soft hand exoskeleton for daily activities. We present sleek mechanisms for a hand module that generates the four most frequently used grasp types, employing a remote actuation system that reduces weight on the hand. For optimal assistance and highest adaptability, we present various design and control options to customize the modular device, along with an automated tailoring algorithm that allows automatically generated hand modules for individual users. Mechanical evaluation shows that RELab tenoexo covers the range of motion and the fingertip forces required to assist users in up to 80% of all grasping activities. In user tests, we find that the low weight, unintrusive size, high wearing comfort, and appealing appearance are beneficial for user acceptance and usability in daily life. Finally, we demonstrate that RELab tenoexo leads to an immediate improvement of the functional grasping ability in a subject with SCI.

中文翻译:

完全可穿戴的驱动软外骨骼,用于在日常活动中获取帮助

在全球范围内,超过 5000 万人在中风或脊髓损伤 (SCI) 后遭受持续性手部损伤。这导致严重丧失独立性和生活质量。机器人手外骨骼可以弥补失去的运动功能,并帮助抓握日常活动中执行的任务。最近的几个原型可以部分提供这种帮助。然而,将日常任务所需的灵巧性整合到一个安全且用户友好的设计中仍然具有挑战性,该设计对于神经运动性手部损伤的受试者的日常使用是可以接受的。我们展示了 RELab tenoexo 的设计;一种完全可穿戴的辅助软手外骨骼,适合日常活动。我们为手模块提供了时尚的机制,该模块生成四种最常用的抓握类型,采用远程驱动系统来减轻手的重量。为了获得最佳辅助和最高适应性,我们提供了各种设计和控制选项来定制模块化设备,以及自动定制算法,允许为个人用户自动生成手模块。机械评估表明,RELab tenoexo 涵盖了帮助用户进行高达 80% 的所有抓取活动所需的运动范围和指尖力。在用户测试中,我们发现重量轻、尺寸不显眼、佩戴舒适度高、外观漂亮有利于用户在日常生活中的接受度和可用性。最后,我们证明 RELab tenoexo 可以立即提高 SCI 受试者的功能性抓握能力。以及允许为个人用户自动生成手模块的自动剪裁算法。机械评估表明,RELab tenoexo 涵盖了帮助用户进行高达 80% 的所有抓取活动所需的运动范围和指尖力。在用户测试中,我们发现重量轻、尺寸不显眼、佩戴舒适度高、外观漂亮有利于用户在日常生活中的接受度和可用性。最后,我们证明 RELab tenoexo 可以立即提高 SCI 受试者的功能性抓握能力。以及允许为个人用户自动生成手模块的自动剪裁算法。机械评估表明,RELab tenoexo 涵盖了帮助用户进行高达 80% 的所有抓取活动所需的运动范围和指尖力。在用户测试中,我们发现重量轻、尺寸不显眼、佩戴舒适度高、外观漂亮有利于用户在日常生活中的接受度和可用性。最后,我们证明 RELab tenoexo 可以立即提高 SCI 受试者的功能性抓握能力。在用户测试中,我们发现重量轻、尺寸不显眼、佩戴舒适度高、外观漂亮有利于用户在日常生活中的接受度和可用性。最后,我们证明 RELab tenoexo 可以立即提高 SCI 受试者的功能性抓握能力。在用户测试中,我们发现重量轻、尺寸不显眼、佩戴舒适度高、外观漂亮有利于用户在日常生活中的接受度和可用性。最后,我们证明 RELab tenoexo 可以立即提高 SCI 受试者的功能性抓握能力。
更新日期:2021-04-19
down
wechat
bug