Mechatronics design and testing of a cable-driven upper limb rehabilitation exoskeleton with variable stiffness
文献类型：期刊论文
| 作者 | Li, Zhongyi; Li, Wang; Chen, Wei-Hai; Zhang, Jianbin; Wang, Jianhua; Fang, Zaojun; Yang, Guilin |
| 刊名 | REVIEW OF SCIENTIFIC INSTRUMENTS
 |
| 出版日期 | 2021 |
| 卷号 | 92期号:2 |
| 关键词 | PARALLEL MANIPULATORS A-TPAD |
| 英文摘要 | In this paper, we present a cable-driven exoskeleton with variable stiffness for upper limb rehabilitation. Adjustable stiffness of the cable-driven exoskeleton is achieved by attaching a novel variable stiffness module (VSM) to each driving cable. The module is able to vary stiffness in a large range through changing cable tension. In this paper, a stiffness model is developed for a cable-driven exoskeleton to reveal the stiffness performance of the exoskeleton with the influence of VSMs. Based on the stiffness model, a controller with stiffness-oriented strategy is proposed to vary the stiffness of the exoskeleton. Experiments on a prototype of a cable-driven exoskeleton are conducted to validate the controller. |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/22221]  |
| 专题 | 中国科学院宁波材料技术与工程研究所 2021专题_期刊论文 |
| 作者单位 | Chen, WH (corresponding author), Shandong Univ Sci & Technol, Coll Elect Engn & Automat, Qingdao 266590, Peoples R China. |
| 推荐引用方式 GB/T 7714 | Li, Zhongyi,Li, Wang,Chen, Wei-Hai,et al. Mechatronics design and testing of a cable-driven upper limb rehabilitation exoskeleton with variable stiffness[J]. REVIEW OF SCIENTIFIC INSTRUMENTS,2021,92(2). |
| APA | Li, Zhongyi.,Li, Wang.,Chen, Wei-Hai.,Zhang, Jianbin.,Wang, Jianhua.,...&Yang, Guilin.(2021).Mechatronics design and testing of a cable-driven upper limb rehabilitation exoskeleton with variable stiffness.REVIEW OF SCIENTIFIC INSTRUMENTS,92(2). |
| MLA | Li, Zhongyi,et al."Mechatronics design and testing of a cable-driven upper limb rehabilitation exoskeleton with variable stiffness".REVIEW OF SCIENTIFIC INSTRUMENTS 92.2(2021). |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
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