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首页> 外文会议>CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators >Upper and Lower Limbs Rehabilitation: DARTAGNAN, An Alternative Solution to Exoskeletal Robots
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Upper and Lower Limbs Rehabilitation: DARTAGNAN, An Alternative Solution to Exoskeletal Robots

机译：上肢和下肢康复：Dartagnan，exoskeletal机器人的替代解决方案

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This article deals with a new robot for rehabilitation, DARTAG-NAN, able to work in active or passive modes, on upper and lower human limbs. The presented robot has an hybrid serial/parallel structure with 6 degree of freedoms and a self-balanced mechanical structure. Although it is not an exoskeleton, DARTAGNAN behaves as such thanks to the customized software and to specific end-effectors, which can be appropriately connected to the forearm or lower leg. Thanks to the force/torque sensor the robot is able to treat the patient limb allowing him/her to (i) feel no effort in passive following mode, (ii) feel a specific effort in passive resistive mode or (iii) to actuate directly the limb in case of force deficit or spasticity for the active mode, while performing the exercise. Moreover, one of features of the robot is the possibility to directly calculate the limbs anthropometric parameters without the need of manual measurements to be set up before each treatment.
机译：本文涉及新机器人进行康复，Dartag-Nan，能够在上下人肢上以活跃或被动模式工作。所提出的机器人具有混合串行/并联结构，具有6度自由和自平衡机械结构。虽然它不是外骨骼，但德国人的表现得如此感谢定制的软件和特定的最终效果，这可以适当地连接到前臂或小腿。由于强制/扭矩传感器，机器人能够治疗患者肢体，允许他/她到（i）在被动跟随模式下没有努力，（ii）感受被动电阻模式或（iii）直接启动的特定努力在执行锻炼的同时，在力量不足或痉挛的情况下肢体。此外，机器人的一个特征是能够直接计算肢体人体测量参数而不需要在每种处理之前设置手动测量。

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