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Comparative analysis of three categories of four-DOFs exoskeleton mechanism based on relative movement offsets
Industrial Robot ( IF 1.8 ) Pub Date : 2021-08-25 , DOI: 10.1108/ir-12-2020-0273
Qiang Cao 1 , Jianfeng Li 1 , Mingjie Dong 1
Affiliation  

Purpose

The purpose of this paper is to evaluate three categories of four-degrees of freedom (4-DOFs) upper limb rehabilitation exoskeleton mechanisms from the perspective of relative movement offsets between the upper limb and the exoskeleton, so as to provide reference for the selection of exoskeleton mechanism configurations.

Design/methodology/approach

According to the configuration synthesis and optimum principles of 4-DOFs upper limb exoskeleton mechanisms, three categories of exoskeletons compatible with upper limb were proposed. From the perspective of human exoskeleton closed chain, through reasonable decomposition and kinematic characteristics analysis of passive connective joints, the kinematic equations of three categories exoskeletons were established and inverse position solution method were addressed. Subsequently, three indexes, which can represent the relative movement offsets of human–exoskeleton were defined.

Findings

Based on the presented position solution and evaluation indexes, the joint displacements and relative movement offsets of the three exoskeletons during eating movement were compared, on which the kinematic characteristics were investigated. The results indicated that the second category of exoskeleton was more suitable for upper limb rehabilitation than the other two categories.

Originality/value

This paper has a certain reference value for the selection of the 4-DOFs upper extremity rehabilitation exoskeleton mechanism configurations. The selected exoskeleton can ensure the safety and comfort of stroke patients with upper limb dyskinesia during rehabilitation training.



中文翻译:

基于相对运动偏移量的三类四自由度外骨骼机构对比分析

目的

本文的目的是从上肢与外骨骼的相对运动偏移角度对三类四自由度(4-DOFs)上肢康复外骨骼机构进行评估,为选择上肢康复外骨骼机构提供参考。外骨骼机制配置。

设计/方法/方法

根据四自由度上肢外骨骼机构的构型综合和优化原理,提出了与上肢兼容的三类外骨骼。从人体外骨骼闭链的角度出发,通过对被动连接关节的合理分解和运动学特性分析,建立了三类外骨骼的运动学方程,并提出了逆位置求解方法。随后,定义了三个指标,可以表示人-外骨骼的相对运动偏移量。

发现

基于所提出的位置解和评价指标,比较了三种外骨骼在进食运动过程中的关节位移和相对运动偏移,并对其运动学特性进行了研究。结果表明,第二类外骨骼比其他两类更适合上肢康复。

原创性/价值

本文对四自由度上肢康复外骨骼机构配置的选择具有一定的参考价值。选用的外骨骼可以保证脑卒中上肢运动障碍患者在康复训练中的安全和舒适。

更新日期:2021-08-25
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