Bio-inspired upper limb soft exoskeleton to reduce stroke-induced complications | |
Elhajj, Imad H.3; Zhao XG(赵新刚)1; Zhao L(赵亮)1,5; Yang T(杨铁)1; Chang, Junling4; Yu P(于鹏)1; Liu LQ(刘连庆)1; Li N(李宁)1,5; Xi N(席宁)1,2 | |
刊名 | BIOINSPIRATION & BIOMIMETICS |
2018 | |
卷号 | 13期号:6页码:1-20 |
关键词 | Soft Bionic Exoskeleton Robot Functional Anatomy Muscle Tension Linearization Biomimetic Robot Stroke-induced Complication Motion Ability Recovery Lightweight And Ergonomic |
ISSN号 | 1748-3182 |
产权排序 | 1 |
英文摘要 | Stroke has become the leading cause of disability and the second-leading cause of mortality worldwide. Dyskinesia complications are the major reason of these high death and disability rates. As a tool for rapid motion function recovery in stroke patients, exoskeleton robots can reduce complications and thereby decrease stroke mortality rates. However, existing exoskeleton robots interfere with the wearer's natural motion and damage joints and muscles due to poor human-machine coupling. In this paper, a novel ergonomic soft bionic exoskeleton robot with 7 degrees of freedom was proposed to address these problems based on the principles of functional anatomy and sports biomechanics. First, the human motion system was analysed according to the functional anatomy, and the muscles were modelled as tension lines. Second, a soft bionic robot was established based on the musculoskeletal tension line model. Third, a robot control method mimicking human muscle control principles was proposed and optimized on a humanoid platform manufactured using 3D printing. After the control method was optimized, the motion trajectory similarities between humans and the platform exceeded 87%. Fourth, the force-assisted effect was tested based on electromyogram signals, and the results showed that muscle signals decreased by 58.17% after robot assistance. Finally, motion-assistance experiments were performed with stroke patients. The joint movement level increased by 174% with assistance, which allowed patients to engage in activities of daily living. With this robot, stroke patients could recover their motion functions, preventing complications and decreasing fatality and disability rates. |
资助项目 | National Key Research and Development Program of China[2016YFE0206200] ; National Natural Science Foundation of China[61573341] ; National Natural Science Foundation of China[61433017] |
WOS关键词 | Wearable-robots ; Assistance ; Walking ; Rehabilitation ; Performance ; Mechanisms ; Evolution ; Shoulder ; Design ; Homo |
WOS研究方向 | Engineering ; Materials Science ; Robotics |
语种 | 英语 |
WOS记录号 | WOS:000442657000001 |
资助机构 | National Key Research and Development Program of China ; National Natural Science Foundation of China |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/22725] |
专题 | 沈阳自动化研究所_机器人学研究室 |
通讯作者 | Yu P(于鹏); Liu LQ(刘连庆) |
作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 10016, China 2.Emerging Technologies Institute, Department of Industrial & Manufacturing Systems Engineering, University of Hong Kong Pokfulam, Hong Kong 3.Vision and Robotics Lab, Department of Electrical and Computer Engineering, American University of Beirut, Beirut, Lebanon 4.Rehabilitation Center for the Disabled, Shenyang, 110015, China 5.University of Chinese Academy of Sciences, Beijing 100049, China |
推荐引用方式 GB/T 7714 | Elhajj, Imad H.,Zhao XG,Zhao L,et al. Bio-inspired upper limb soft exoskeleton to reduce stroke-induced complications[J]. BIOINSPIRATION & BIOMIMETICS,2018,13(6):1-20. |
APA | Elhajj, Imad H..,Zhao XG.,Zhao L.,Yang T.,Chang, Junling.,...&Xi N.(2018).Bio-inspired upper limb soft exoskeleton to reduce stroke-induced complications.BIOINSPIRATION & BIOMIMETICS,13(6),1-20. |
MLA | Elhajj, Imad H.,et al."Bio-inspired upper limb soft exoskeleton to reduce stroke-induced complications".BIOINSPIRATION & BIOMIMETICS 13.6(2018):1-20. |
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