Design and Validation of a Self-Aligning Index Finger Exoskeleton for Post-Stroke Rehabilitation
文献类型：期刊论文
| 作者 | Sun, Ning1,2 ; Li, Guotao1; Cheng, Long1,2
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| 刊名 | IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
 |
| 出版日期 | 2021 |
| 卷号 | 29页码:1513-1523 |
| 关键词 | Exoskeletons Indexes Kinematics Training Force Electronics packaging Task analysis Finger exoskeleton self-aligning mechanism kinematic compatibility kineto-statics |
| ISSN号 | 1534-4320 |
| DOI | 10.1109/TNSRE.2021.3097888 |
| 通讯作者 | Cheng, Long(long.cheng@ia.ac.cn) |
| 英文摘要 | Rehabilitation of hand functions is necessary to improve post-stroke patients' quality of life. There is initial evidence that hand exoskeletons should exercise flexion/extension (f/e) and abduction/adduction (a/a) of the fingers to rebuild hand functions. However, designing a self-alignment mechanism of the metacarpophalangeal (MCP) joint to improve its wearing comfort is still a challenge. In this paper, a novel index finger exoskeleton with three motors is proposed to help post-stroke patients perform finger a/a and f/e training. A spatial mechanism with passive degrees of freedom for the MCP joint is designed to realize human-robot axes self-alignment. The proposed mechanism's kinematic compatibility is analyzed to show its self-aligning capability, and the kineto-statics analysis is performed to present the exoskeleton's static characteristics. Finally, kinematic and static experiments have been conducted, and the results indicate that the standardized reaction forces square sum of the exoskeleton to the MCP joint can be reduced by 65.8% compared with the state-of-the-art exoskeleton. According to the experimental results, the exoskeleton can achieve the a/a and f/e training and human-robot axes self-alignment, and improve its comfortability. In the future, clinical trials will be further studied to test the exoskeleton. |
| WOS关键词 | HAND EXOSKELETON ; WEARABLE HAND ; ACTUATION ; ORTHOSIS ; THERAPY |
| 资助项目 | Beijing Municipal Natural Science Foundation[JQ19020] ; National Natural Science Foundation of China[62025307] ; National Natural Science Foundation of China[U1913209] |
| WOS研究方向 | Engineering ; Rehabilitation |
| 语种 | 英语 |
| WOS记录号 | WOS:000681107300001 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | Beijing Municipal Natural Science Foundation ; National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/45637]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 通讯作者 | Cheng, Long |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China |
| 推荐引用方式 GB/T 7714 | Sun, Ning,Li, Guotao,Cheng, Long. Design and Validation of a Self-Aligning Index Finger Exoskeleton for Post-Stroke Rehabilitation[J]. IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING,2021,29:1513-1523. |
| APA | Sun, Ning,Li, Guotao,&Cheng, Long.(2021).Design and Validation of a Self-Aligning Index Finger Exoskeleton for Post-Stroke Rehabilitation.IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING,29,1513-1523. |
| MLA | Sun, Ning,et al."Design and Validation of a Self-Aligning Index Finger Exoskeleton for Post-Stroke Rehabilitation".IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING 29(2021):1513-1523. |
入库方式： OAI收割
来源：自动化研究所
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