中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
首页 机构 成果 学者
  
  1. CAS IR Grid
  2. 自动化研究所
  3. 中国科学院自动化研究所
  4. 复杂系统认知与决策实验室
  5. 先进机器人控制团队
Development of an Untethered Adaptive Thumb Exoskeleton for Delicate Rehabilitation Assistance

文献类型：期刊论文

作者Li, Guotao3; Cheng, Long2,3; Gao, Ziwen1; Xia, Xiuze2,3; Jiang, Jingang1
刊名IEEE TRANSACTIONS ON ROBOTICS
出版日期2022-12-01
卷号38期号:6页码:3514-3529
关键词Adaptive mechanism interaction force rehabi litation thumb exoskeleton
ISSN号1552-3098
DOI10.1109/TRO.2022.3180832
通讯作者Cheng, Long(long.cheng@ia.ac.cn)
英文摘要Robot-assisted thumb rehabilitation can improve the hand function of stroke patients because the thumb accounts for 40% of hand function. However, existing thumb rehabilitation robots are limited in terms of portability, comfort, adaptability, and independent joint actuation. This article proposes an untethered adaptive thumb exoskeleton that actively assists the 3-degree-of-freedom movements of the thumb. The exoskeleton is composed of an adaptive thumb mechanism and a spherical mechanism. The kinematics, statics, and performances of the adaptive thumb mechanism and the spherical mechanism are analyzed. Experimental validation is performed to test the workspace, self-alignment, interaction forces, admittance controller, and grasping assistance performance of the exoskeleton. The workspace and self-aligning experiments prove that the proposed exoskeleton can achieve a large workspace of the thumb joints and realize self-alignment. The interaction force experimental results show that the exoskeleton can reduce the tangential interaction forces by 76.8% and improve comfort. Finally, the control and delicate grasping assistance experiments validate the exoskeleton's ability to realize the delicate grasping of the thumb. These characteristics show that the thumb exoskeleton has the potential to assist delicate thumb rehabilitation.
WOS关键词INDEX FINGER EXOSKELETON ; HAND EXOSKELETON ; WEARABLE HAND ; DESIGN ; COMFORT ; PERFORMANCE ; 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] ; National Natural Science Foundation of China[62103412] ; Department of Mathematics and Theories ,Peng Cheng Laboratory, Shenzhen, China
WOS研究方向Robotics
语种英语
WOS记录号WOS:000895096800013
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构Beijing Municipal Natural Science Foundation ; National Natural Science Foundation of China ; Department of Mathematics and Theories ,Peng Cheng Laboratory, Shenzhen, China
源URL[http://ir.ia.ac.cn/handle/173211/51326]  
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.Harbin Univ Sci & Technol, Sch Mech & Power Engn, Harbin 150080, Peoples R China
2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
3.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,Gao, Ziwen,et al. Development of an Untethered Adaptive Thumb Exoskeleton for Delicate Rehabilitation Assistance[J]. IEEE TRANSACTIONS ON ROBOTICS,2022,38(6):3514-3529.
APA Li, Guotao,Cheng, Long,Gao, Ziwen,Xia, Xiuze,&Jiang, Jingang.(2022).Development of an Untethered Adaptive Thumb Exoskeleton for Delicate Rehabilitation Assistance.IEEE TRANSACTIONS ON ROBOTICS,38(6),3514-3529.
MLA Li, Guotao,et al."Development of an Untethered Adaptive Thumb Exoskeleton for Delicate Rehabilitation Assistance".IEEE TRANSACTIONS ON ROBOTICS 38.6(2022):3514-3529.

入库方式： OAI收割

来源：自动化研究所

浏览0
下载0
收藏0
其他版本

除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。