Design of a 3 Degree-of-Freedom Upper-Limb Active Exoskeleton with Cable-Driven Actuators for Neuromotor Rehabilitation
2023 IEEE Colombian Caribbean Conference (C3)(2023)
摘要
Exoskeletons are wearable mechanisms which, parallel to the wearer’s joints, modulate movements through active or passive torque application. While existing upper-limb exoskeletons offer benefits in strength augmentation and therapy, they often suffer from limited degrees of freedom and excessive bulk, hindering their utility in neuromotor rehabilitation. This study introduces a three degree-of-freedom active upper-limb exoskeleton optimized for neuromotor rehabilitation. Employing anthropometric data and rigorous kinematic analysis, the design accommodates elbow flexion/extension, forearm pronation/supination, and hand gripping. The upper limb dynamics, kinematics, and physiology were evaluated to provide adequate joint ranges of motion. Cable-driven actuators in the elbow and forearm joints were designed to provide low worn weight through the relocation of the motor units away from the user’s joints. The result is a lightweight, compact exoskeleton that provides optimal conditions for neuromotor rehabilitation. Finally, a preliminary control strategy was tested using myoelectric signals to trigger motion.
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关键词
Rehabilitation,Robotics,Exoskeleton,Upper-limb,Bowden,Cable-driven
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