Soft Exoskeleton With Fully Actuated Thumb Movements for Grasping Assistance | |
Chen WY(陈文远)1,3,4; Li GY(李广勇)2; Li N(李宁)1,3,4; Wang WX(王文学)1,4; Yu P(于鹏)1,4; Wang RQ(王瑞乾)1,3,4; Xue, Xiujuan5; Zhao XG(赵新刚)1,4; Liu LQ(刘连庆)1,4 | |
刊名 | IEEE TRANSACTIONS ON ROBOTICS |
2022 | |
页码 | 1-14 |
关键词 | Thumb Exoskeletons Tendons Actuators Training Force IP networks Exercise-assisted hand exoskeleton rehabilita-tion robot soft wearable robot tendon-driven |
ISSN号 | 1552-3098 |
产权排序 | 1 |
英文摘要 | It has been clinically proven that exoskeletons are effective self-training rehabilitation or daily living assistance devices for patients with hand dysfunctions. However, exoskeleton-assisted hand exercises with high degrees-of-freedom are considered as challenging tasks because the digit space, especially the thumb, cannot accommodate enough actuators. In this article, we report a tendon-driven soft hand exoskeleton with a hybrid configuration for thumb actuation. The soft hand exoskeleton system uses the least number of actuators to realize full degrees-of-freedom actuation for all digits. It is tested on a stroke patient with hemiplegia and a healthy subject. The experimental results show that the hand exoskeleton could assist the stroke patient to accomplish various training tasks, such as thumb encircling, grasping, pinching, releasing, and writing. It was found that digit trajectories and joint angle changes of the stroke patient were close to those of the healthy subject. Especially, the range of motion of the stroke patient shows significant improvement with the hand exoskeleton assistance compared to that without the hand exoskeleton assistance. The research in this article paves the way to develop fully actuated soft hand exoskeleton that can be eventually integrated with an electroencephalogram or electromyography for self-training rehabilitation or daily living assistance. |
资助项目 | National Key R&D Program of China[2018YFB1304700] ; National Natural Science Foundation of China[61925307] ; National Natural Science Foundation of China[61821005] ; National Natural Science Foundation of China[91748212] ; Key Research Program of Frontier Sciences, CAS[QYZDB-SSW-JSC008] ; Sichuan Science and Technology Program[2020YFSY0012] |
WOS关键词 | SERIES ELASTIC ACTUATION ; HAND EXOSKELETON ; WEARABLE HAND ; FINGER EXOSKELETON ; DESIGN ; ROBOT |
WOS研究方向 | Robotics |
语种 | 英语 |
WOS记录号 | WOS:000764853900001 |
资助机构 | National Key R&D Program of China [2018YFB1304700] ; National Natural Science Foundation of ChinaNational Natural Science Foundation of China (NSFC) [61925307, 61821005, 91748212] ; Key Research Program of Frontier Sciences, CAS [QYZDB-SSW-JSC008] ; Sichuan Science and Technology Program [2020YFSY0012] |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/30592] |
专题 | 沈阳自动化研究所_机器人学研究室 |
通讯作者 | Li GY(李广勇); Liu LQ(刘连庆) |
作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.Department of Electrical and Computer Engineering, Swanson School of Engineering, University of Pittsburgh, Pittsburgh, PA 15261 USA 3.University of the Chinese Academy of Sciences, Beijing 100049, China 4.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 5.Rehabilitation Center for the Disabled, Shenyang 110015, China |
推荐引用方式 GB/T 7714 | Chen WY,Li GY,Li N,et al. Soft Exoskeleton With Fully Actuated Thumb Movements for Grasping Assistance[J]. IEEE TRANSACTIONS ON ROBOTICS,2022:1-14. |
APA | Chen WY.,Li GY.,Li N.,Wang WX.,Yu P.,...&Liu LQ.(2022).Soft Exoskeleton With Fully Actuated Thumb Movements for Grasping Assistance.IEEE TRANSACTIONS ON ROBOTICS,1-14. |
MLA | Chen WY,et al."Soft Exoskeleton With Fully Actuated Thumb Movements for Grasping Assistance".IEEE TRANSACTIONS ON ROBOTICS (2022):1-14. |
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