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A Cable-Driven Three-DOF Wrist Rehabilitation Exoskeleton With Improved Performance
This paper developed a cable-driven three-degree-of-freedom (DOF) wrist rehabilitation exoskeleton actuated by the distributed active semi-active (DASA) system. Compared with the conventional cable-driven robots, the workspace of this robot is increased greatly by adding the rotating compensation me...
Autores principales: | , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Frontiers Media S.A.
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8060699/ https://www.ncbi.nlm.nih.gov/pubmed/33897402 http://dx.doi.org/10.3389/fnbot.2021.664062 |
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author | Shi, Ke Song, Aiguo Li, Ye Li, Huijun Chen, Dapeng Zhu, Lifeng |
author_facet | Shi, Ke Song, Aiguo Li, Ye Li, Huijun Chen, Dapeng Zhu, Lifeng |
author_sort | Shi, Ke |
collection | PubMed |
description | This paper developed a cable-driven three-degree-of-freedom (DOF) wrist rehabilitation exoskeleton actuated by the distributed active semi-active (DASA) system. Compared with the conventional cable-driven robots, the workspace of this robot is increased greatly by adding the rotating compensation mechanism and by optimizing the distribution of the cable attachment points. In the meanwhile, the efficiency of the cable tension is improved, and the parasitic force (the force acting on the joint along the limb) is reduced. Besides, in order to reduce the effects of compliant elements (e.g., cables or Bowden cables) between the actuators and output, and to improve the force bandwidth, we designed the DASA system composed of one geared DC motor and four magnetorheological (MR) clutches, which has low output inertia. A fast unbinding strategy is presented to ensure safety in abnormal conditions. A passive training algorithm and an assist-as-needed (AAN) algorithm were implemented to control the exoskeleton. Several experiments were conducted on both healthy and impaired subjects to test the performance and effectiveness of the proposed system for rehabilitation. The results show that the system can meet the needs of rehabilitation training for workspace and force-feedback, and provide efficient active and passive training. |
format | Online Article Text |
id | pubmed-8060699 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
spelling | pubmed-80606992021-04-23 A Cable-Driven Three-DOF Wrist Rehabilitation Exoskeleton With Improved Performance Shi, Ke Song, Aiguo Li, Ye Li, Huijun Chen, Dapeng Zhu, Lifeng Front Neurorobot Neuroscience This paper developed a cable-driven three-degree-of-freedom (DOF) wrist rehabilitation exoskeleton actuated by the distributed active semi-active (DASA) system. Compared with the conventional cable-driven robots, the workspace of this robot is increased greatly by adding the rotating compensation mechanism and by optimizing the distribution of the cable attachment points. In the meanwhile, the efficiency of the cable tension is improved, and the parasitic force (the force acting on the joint along the limb) is reduced. Besides, in order to reduce the effects of compliant elements (e.g., cables or Bowden cables) between the actuators and output, and to improve the force bandwidth, we designed the DASA system composed of one geared DC motor and four magnetorheological (MR) clutches, which has low output inertia. A fast unbinding strategy is presented to ensure safety in abnormal conditions. A passive training algorithm and an assist-as-needed (AAN) algorithm were implemented to control the exoskeleton. Several experiments were conducted on both healthy and impaired subjects to test the performance and effectiveness of the proposed system for rehabilitation. The results show that the system can meet the needs of rehabilitation training for workspace and force-feedback, and provide efficient active and passive training. Frontiers Media S.A. 2021-04-08 /pmc/articles/PMC8060699/ /pubmed/33897402 http://dx.doi.org/10.3389/fnbot.2021.664062 Text en Copyright © 2021 Shi, Song, Li, Li, Chen and Zhu. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
spellingShingle | Neuroscience Shi, Ke Song, Aiguo Li, Ye Li, Huijun Chen, Dapeng Zhu, Lifeng A Cable-Driven Three-DOF Wrist Rehabilitation Exoskeleton With Improved Performance |
title | A Cable-Driven Three-DOF Wrist Rehabilitation Exoskeleton With Improved Performance |
title_full | A Cable-Driven Three-DOF Wrist Rehabilitation Exoskeleton With Improved Performance |
title_fullStr | A Cable-Driven Three-DOF Wrist Rehabilitation Exoskeleton With Improved Performance |
title_full_unstemmed | A Cable-Driven Three-DOF Wrist Rehabilitation Exoskeleton With Improved Performance |
title_short | A Cable-Driven Three-DOF Wrist Rehabilitation Exoskeleton With Improved Performance |
title_sort | cable-driven three-dof wrist rehabilitation exoskeleton with improved performance |
topic | Neuroscience |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8060699/ https://www.ncbi.nlm.nih.gov/pubmed/33897402 http://dx.doi.org/10.3389/fnbot.2021.664062 |
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