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Minimally Actuated Four-Bar Linkages for Upper Limb Rehabilitation

机译：最小致动的上肢康复的四杆连杆

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In the previous years the scientific community dealt extensively with designing, developing and testing robot-based rehabilitation systems. Besides the benefits that resulted for disabled people, this twenty-year endeavor has helped us improve our understanding of the neuroplasticity mechanisms in the Central Nervous System (CNS) and how these are triggered through the interaction with the physical world and especially through interaction with robots. In these systems, most of the state-of-the-art arrangements are based on multi-Degree of Freedom (DOF) open kinematic chains. They also employ sophisticated control hardware as well as high-profile actuators and sensors. The state-of-the-art technology that is integrated in these arrangements, increases the cost and at the same time requires the presence of trained employees that are able to maintain and operate such systems. Another option, are mechanisms that are based on four- and six-bar linkages. These are closed kinematic chain designs that can generate a variety of paths, yet they can do so with much less flexibility and adaptation possibilities. Despite the reduced flexibility over their robotic counterparts these mechanisms are attractive due to their reduced cost, simplicity and low external power requirement. This paper elaborates on the synthesis, analysis, simulation and passive control of four-bar linkages that can be used in upper limb rehabilitation and extends previous work by simulating the mechanism-impaired user interaction using a dynamic multibody system model. The emphasis in this work has been on straight-line trajectory generation, but this established methodology can be applied for developing mechanisms with higher complexity and more complex trajectories.
机译：在过去几年中，科学界广泛处理设计，开发和测试基于机器人的康复系统。除了为残疾人造成残疾人的好处，今年的努力帮助我们改善了我们对中枢神经系统（CNS）中神经塑性机制的理解以及如何通过与物理世界的互动，特别是通过与机器人的互动来引发这些机制。在这些系统中，大多数最先进的布置基于多程度的自由度（DOF）开放运动链。它们还采用了复杂的控制硬件以及高调的执行器和传感器。在这些安排中集成的最先进的技术，增加了成本，同时需要存在能够维护和操作这种系统的训练有素的员工。另一种选择是基于四个和六个条形链接的机制。这些是封闭的运动链设计，可以产生各种路径，但它们可以通过更少的灵活性和适应可能性来实现。尽管对其机器人对应的灵活性降低，但由于其成本降低，简单性和低外部电源要求，这些机制具有吸引力。本文阐述了四条杆连接的合成，分析，仿真和被动控制，该综合可用于上肢康复，并通过模拟使用动态多体系系统模型模拟机制障碍的用户交互来扩展以前的工作。这项工作的重点是在直线轨迹一代中，但是这种建立的方法可以应用于具有更高复杂性和更复杂的轨迹的发展机制。

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