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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Design and Experimental Characterization of a Shoulder-Elbow Exoskeleton With Compliant Joints for Post-Stroke Rehabilitation
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Design and Experimental Characterization of a Shoulder-Elbow Exoskeleton With Compliant Joints for Post-Stroke Rehabilitation

机译：具有顺应性关节的中风后肩肘关节外骨骼的设计和实验特性

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摘要

This paper presents the design and experimental characterization of a 4-degree-of-freedom shoulder-elbow exoskeleton, NeuroExos Shoulder-elbow Module (NESM), for upper-limb neurorehabilitation and treatment of spasticity. The NESM employs a self-aligning mechanism based on passive rotational joints to smoothly self-align the robot's rotational axes to the user's ones. Compliant yet high-torque series-elastic actuators allow the NESM to safely interact with the user, particularly in response to sudden unpredicted movements, such as those caused by spastic contractions. The NESM control system provides a variety of rehabilitation exercises, enabling the customization of therapy to patients exhibiting a range of movement capabilities. Available exercises include passive mobilization, active-assisted, active-resisted, and active-disturbed training modes. The experimental characterization of two NESM actuation units demonstrated position and torque control performance suitable for use in neurorehabilitation applications, including up to 7 Hz of bandwidth in torque control. An algorithm for online detection of spastic contractions or sudden object collisions has been implemented and tested as well, with results suggesting that the current system can ensure safe interaction with patients.
机译：本文介绍了一种4自由度肩肘外骨骼NeuroExos肩肘模块（NESM）的设计和实验特性，用于上肢神经康复和痉挛治疗。 NESM采用基于被动旋转关节的自对准机制，以使机器人的旋转轴与用户的旋转轴平滑自对准。顺应性但高扭矩的串联弹性执行器使NESM可以安全地与用户互动，特别是响应突然的意外运动（例如由痉挛性收缩引起的运动）时。 NESM控制系统提供了多种康复锻炼，使具有多种运动能力的患者可以定制治疗方法。可用的练习包括被动动员，主动辅助，主动抵抗和主动干扰训练模式。两个NESM驱动单元的实验特性表明，其位置和扭矩控制性能适用于神经康复应用，包括扭矩控制中高达7 Hz的带宽。用于痉挛性收缩或突然的物体碰撞的在线检测算法也已实施和测试，结果表明当前系统可以确保与患者的安全交互。

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