期刊文献+

手部外骨骼运动相容性设计综述 被引量:11

Review of the Kinematic Compatibility Design of Hand Exoskeletons
下载PDF
导出
摘要 以人机运动相容性为关注点,对手部外骨骼设计的研究现状进行分析与综述.首先,结合人手解剖学结构与关节运动学属性的分析,简要介绍手部的主要运动学参考模型.其次,根据实现人机运动相容性的设计方法,将手部外骨骼归纳为人机关节轴线对齐、关节轴线自适应和柔顺性结构手套等3种主要类型,并扼要分析典型手部外骨骼的设计特点.最后,结合人机穿戴偏差、个体体征差异和人机关节运动属性差异等对人机运动相容性的影响,对手部外骨骼设计需要考虑的问题和后续研究进行了分析与论述. The design arts and status of hand exoskeletons are analyzed and reviewed from the perspective of human-robot kinematic compatibility.Firstly,the main existing hand kinematic models are introduced on the basis of the analyses of the hand anatomical structure and hand joint kinematics.Secondly,according to the design methods to realize the human-robot kinematic compatibility,the hand exoskeletons are divided into three classifies including the joint axis-alignment hand exoskeletons,the joint axis selfadaptive hand exoskeletons,and the compliance glove hand exoskeletons. Moreover,the design characteristics of the typical hand exoskeletons are also briefly analyzed.Finally,the influences of the kinematic difference between human and robot joints,the individual difference and wearing offset on the human-robot kinematic compatibility are analyzed,on which the main issues in the design of hand exoskeletons and the future research are discussed and prospected.
出处 《上海交通大学学报》 EI CAS CSCD 北大核心 2018年第6期729-742,共14页 Journal of Shanghai Jiaotong University
基金 国家自然科学基金(51675008 51705007) 北京市自然科学基金(3171001) 中国博士后科学基金(2016M600021) 北京市科技计划(Z161100001516004)资助项目
关键词 手部外骨骼 手运动学模型 运动相容性 设计方法 hand exoskeleton hand kinematic model kinematic compatibility design method
  • 相关文献

参考文献5

二级参考文献101

  • 1王伊龙,王拥军,吴敌,赵性泉,王文志,吴兆苏,张通,赵元立,高山,廖晓凌,陈伟伟.中国卒中防治研究现状[J].中国卒中杂志,2007,2(1):20-37. 被引量:105
  • 2林日武,林茂恩,潘仕海,陈建胜.强制性运动疗法治疗脑卒中偏瘫的临床应用[J].心脑血管病防治,2007,7(2):97-98. 被引量:15
  • 3LO A C, GUARINO P D, RICHARDS L G, et al. Ro- bot-assisted therapy for long-term upper-limb impair- ment after stroke [J]. New England Journal of Medi- cine, 2010, 362(19): 1772-1783.
  • 4PONS J L. Wearable robots: biomechatronic exoskeletons [M]. Atrium: Wiley, 2008.
  • 5MIHELJ M, NEF T, RIENER R. ARMin II-7 DoF re- habilitation robot: mechanics and kinematics [C]/// Pro- ceedings of the 2007 IEEE International Conference on Ro- botics and Automation. New York: IEEE, 2007 : 4120 - 4125.
  • 6PERRY J C, ROSEN J, BURNS S. Upper-limb pow- ered exoskeleton design [ J ]. Mechatronics, IEEE/ ASME Transactions on, 2007, 12(4): 408- 417.
  • 7AGRAWAL S K, DUBEY V N, GANGLOFF J J, et al. Design and optimization of a cable driven upper arm exoskeleton [J]. Journal of Medical Devices, 2009, 3(3) : 298 - 300.
  • 8CALDWELL D G, TSAGARAKIS N, KOUSIDOU S, et al. " Soft" exoskeletons for upper and lower body rehabilitation design, control and testing [J]. Interna- tional Journal of Humanoid Robotics, 2007, 4 ( 3 ) : 549 - 574.
  • 9GOPURA R, KIGUCHI K, LI Y, SUEFUL-7: a 7DOF upper-limb exoskeleton robot with muscle-mod el-oriented EMCrbased control [C]// Intelligent Ro- bots and Systems, IEEE/RSJ International Conference on. St. Louis: IEEE, 2009: 1126-1131.
  • 10CEMPINI M, DE ROSSI S M M, LENZI T, et al. Self-alignment mechanisms for assistive wearable ro- bots: a kinetostatic compatibility method [J]. Robot- ics, IEEE Transactions on, 2013, 29(1): 236 -250.

共引文献59

同被引文献62

引证文献11

二级引证文献23

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部