Design of a lightweight forearm exoskeleton for fine-motion rehabilitation

Yin Yu Su, Kuan Yi Wu, Ching Hui Lin, Ying Lung Yu, Chao Chieh Lan

研究成果: Conference contribution

4 引文 斯高帕斯(Scopus)

摘要

Exoskeleton robots can facilitate rehabilitation of patients with upper or lower limb disabilities. To make exoskeletons more friendly and accessible to patients, they need to be lightweight and compact without compromising major performances. Existing upper-limb exoskeletons focus on the shoulder and the upper arm while the fine-motion rehabilitation of the forearm is often ignored. This paper presents an elbow-wrist exoskeleton with five degrees-of-freedom. Using a 5R spherical mechanism for the wrist module and a slider crank mechanism for the elbow module, this exoskeleton can provide the complete motion assistance for the forearm. This exoskeleton with optimized dimensions can produce large torque and motion output while the motors are placed parallel to the forearm and the elbow joint. Thus better inertia properties can be achieved while lightweight and compactness are maintained. Series elastic actuators (SEAs) are proposed to obtain accurate force and impedance control at the exoskeleton-forearm interface. We expect that this rehabilitation exoskeleton can be used alone or in conjunction with other exoskeleton robots to provide a means of robot-aided upper limb rehabilitation.

原文English
主出版物標題AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
發行者Institute of Electrical and Electronics Engineers Inc.
頁面438-443
頁數6
ISBN(列印)9781538618547
DOIs
出版狀態Published - 2018 八月 30
事件2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand
持續時間: 2018 七月 92018 七月 12

出版系列

名字IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
2018-July

Other

Other2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
國家/地區New Zealand
城市Auckland
期間18-07-0918-07-12

All Science Journal Classification (ASJC) codes

  • 電氣與電子工程
  • 控制與系統工程
  • 電腦科學應用
  • 軟體

指紋

深入研究「Design of a lightweight forearm exoskeleton for fine-motion rehabilitation」主題。共同形成了獨特的指紋。

引用此