This paper developed a cable-driven 3-degree-of-freedom (DOF) wrist rehabilitation exoskeleton actuated by the distributed active semi-active (DASA) system. Compared with the conventional cable-driven robots, the workspace of this robot is increased greatly by adding the rotating compensation mechanism and by optimizing the distribution of the cable attachment points. In the meanwhile, the efficiency of the cable tension is improved, and the parasitic force (the force acting on the joint along the limb) is reduced. Besides, in order to reduce the effects of compliant elements (e.g., cables or Bowden cables) between the actuators and output, and to improve the force bandwidth, we designed the DASA system composed of one geared DC motor and four magnetorheological (MR) clutches, which has low output inertia. A fast unbinding strategy is presented to ensure safety in abnormal conditions. A passive training algorithm and an assist-as-needed (AAN) algorithm were implemented to control the exoskeleton. Several experiments were conducted on both healthy and impaired subjects to test the performance and effectiveness of the proposed system for rehabilitation. The results show that the system can meet the needs of rehabilitation training for workspace and force-feedback, and provide efficient active and passive training.

中文翻译：

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具有改进性能的电缆驱动3自由度腕关节康复外骨骼

本文开发了一种由分布式主动半主动（DASA）系统驱动的电缆驱动3自由度（DOF）腕关节康复外骨骼。与传统的电缆驱动机器人相比，该机器人的工作空间通过增加旋转补偿机构并优化了电缆连接点的分布而大大增加了。同时，提高了电缆张力的效率，并且减小了寄生力（沿着肢体作用在关节上的力）。此外，为了减少执行器和输出之间的顺应性元件（例如电缆或鲍登电缆）的影响，并改善力带宽，我们设计了由一台齿轮直流电动机和四个磁流变（MR）离合器组成的DASA系统，具有较低的输出惯量。提出了一种快速解除绑定的策略，以确保在异常情况下的安全性。实现了被动训练算法和按需辅助（AAN）算法来控制外骨骼。在健康和有障碍的受试者上进行了一些实验，以测试所提出的康复系统的性能和有效性。结果表明，该系统可以满足工作场所和力反馈康复训练的需求，并提供有效的主动和被动训练。