Design, manipulability analysis and optimization of an index finger exoskeleton for stroke rehabilitation
文献类型：期刊论文
| 作者 | Li, Guotao ; Cheng, Long; Sun, Ning
|
| 刊名 | MECHANISM AND MACHINE THEORY
 |
| 出版日期 | 2022 |
| 卷号 | 167页码:22 |
| 关键词 | Wearable exoskeleton Kinematics Manipulability Optimization |
| ISSN号 | 0094-114X |
| DOI | 10.1016/j.mechmachtheory.2021.104526 |
| 通讯作者 | Cheng, Long(long.cheng@ia.ac.cn) |
| 英文摘要 | Rehabilitation medicine studies have indicated that occupational therapy has a positive effect on the recovery of hand function. However, few wearable hand exoskeletons can assist in performing the adduction and abduction exercises of occupational therapy. Therefore, the wearable index finger rehabilitation exoskeleton (WIFRE) is studied in this paper. First, a WIFRE is proposed to realize the index joint's independent actuation, including adduction and abduction movements. Second, the local/global kinematic and dynamic manipulability measures are proposed and analyzed to evaluate the performance of the WIFRE. The analysis results show that the dimensional parameters of the WIFRE have a significant effect on its global manipulability measures. The global kinematic and dynamic manipulability measures can be improved by 13%-15% compared with the corresponding minimums. Third, a multi-parameter multi-objective optimization method is proposed to simultaneously enhance the three global manipulability measures. Finally, experiments are performed to verify the effectiveness of the index finger exoskeleton and the global manipulability measures. |
| WOS关键词 | WEARABLE HAND EXOSKELETON ; DYNAMIC MANIPULATABILITY ; ROBOT ; COMPATIBILITY ; ORTHOSIS ; THERAPY ; ARM |
| 资助项目 | Beijing Municipal Natural Science Foundation[JQ19020] ; National Natural Science Foundation of China[62025307] ; National Natural Science Foundation of China[U1913209] ; National Natural Science Foundation of China[62073319] ; National Natural Science Foundation of China[62103412] ; China Postdoctoral Science Foundation[260798] |
| WOS研究方向 | Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000696981800004 |
| 出版者 | PERGAMON-ELSEVIER SCIENCE LTD |
| 资助机构 | Beijing Municipal Natural Science Foundation ; National Natural Science Foundation of China ; China Postdoctoral Science Foundation |
| 源URL | [http://ir.ia.ac.cn/handle/173211/46028]  |
| 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 | Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Li, Guotao,Cheng, Long,Sun, Ning. Design, manipulability analysis and optimization of an index finger exoskeleton for stroke rehabilitation[J]. MECHANISM AND MACHINE THEORY,2022,167:22. |
| APA | Li, Guotao,Cheng, Long,&Sun, Ning.(2022).Design, manipulability analysis and optimization of an index finger exoskeleton for stroke rehabilitation.MECHANISM AND MACHINE THEORY,167,22. |
| MLA | Li, Guotao,et al."Design, manipulability analysis and optimization of an index finger exoskeleton for stroke rehabilitation".MECHANISM AND MACHINE THEORY 167(2022):22. |
入库方式： OAI收割
来源：自动化研究所
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