Design and Validation of a Self-Aligning Index Finger Exoskeleton for Post-Stroke Rehabilitation

doi:10.1109/TNSRE.2021.3097888

CORC > 自动化研究所 > 中国科学院自动化研究所 > 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

	Design and Validation of a Self-Aligning Index Finger Exoskeleton for Post-Stroke Rehabilitation
	Sun, Ning 1,2; Li, Guotao 1; Cheng, Long 1,2
刊名	IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
	2021
卷号	29 页码:1513-1523
关键词	Exoskeletons Indexes Kinematics Training Force Electronics packaging Task analysis Finger exoskeleton self-aligning mechanism kinematic compatibility kineto-statics
ISSN号	1534-4320
DOI	10.1109/TNSRE.2021.3097888
通讯作者	Cheng, Long(long.cheng@ia.ac.cn)
英文摘要	Rehabilitation of hand functions is necessary to improve post-stroke patients' quality of life. There is initial evidence that hand exoskeletons should exercise flexion/extension (f/e) and abduction/adduction (a/a) of the fingers to rebuild hand functions. However, designing a self-alignment mechanism of the metacarpophalangeal (MCP) joint to improve its wearing comfort is still a challenge. In this paper, a novel index finger exoskeleton with three motors is proposed to help post-stroke patients perform finger a/a and f/e training. A spatial mechanism with passive degrees of freedom for the MCP joint is designed to realize human-robot axes self-alignment. The proposed mechanism's kinematic compatibility is analyzed to show its self-aligning capability, and the kineto-statics analysis is performed to present the exoskeleton's static characteristics. Finally, kinematic and static experiments have been conducted, and the results indicate that the standardized reaction forces square sum of the exoskeleton to the MCP joint can be reduced by 65.8% compared with the state-of-the-art exoskeleton. According to the experimental results, the exoskeleton can achieve the a/a and f/e training and human-robot axes self-alignment, and improve its comfortability. In the future, clinical trials will be further studied to test the exoskeleton.
资助项目	Beijing Municipal Natural Science Foundation[JQ19020] ; National Natural Science Foundation of China[62025307] ; National Natural Science Foundation of China[U1913209]
WOS关键词	HAND EXOSKELETON ; WEARABLE HAND ; ACTUATION ; ORTHOSIS ; THERAPY
WOS研究方向	Engineering ; Rehabilitation
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000681107300001
资助机构	Beijing Municipal Natural Science Foundation ; National Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/45637]
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.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
推荐引用方式 GB/T 7714	Sun, Ning,Li, Guotao,Cheng, Long. Design and Validation of a Self-Aligning Index Finger Exoskeleton for Post-Stroke Rehabilitation[J]. IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING,2021,29:1513-1523.
APA	Sun, Ning,Li, Guotao,&Cheng, Long.(2021).Design and Validation of a Self-Aligning Index Finger Exoskeleton for Post-Stroke Rehabilitation.IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING,29,1513-1523.
MLA	Sun, Ning,et al."Design and Validation of a Self-Aligning Index Finger Exoskeleton for Post-Stroke Rehabilitation".IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING 29(2021):1513-1523.