Design, manipulability analysis and optimization of an index finger exoskeleton for stroke rehabilitation

doi:10.1016/j.mechmachtheory.2021.104526

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, manipulability analysis and optimization of an index finger exoskeleton for stroke rehabilitation
	Li, Guotao; Cheng, Long; Sun, Ning
刊名	MECHANISM AND MACHINE THEORY
	2022
卷号	167 页码:22
关键词	Wearable exoskeleton Kinematics Manipulability Optimization
ISSN号	0094-114X
DOI	10.1016/j.mechmachtheory.2021.104526
通讯作者	Cheng, Long(long.cheng@ia.ac.cn)
英文摘要	Rehabilitation medicine studies have indicated that occupational therapy has a positive effect on the recovery of hand function. However, few wearable hand exoskeletons can assist in performing the adduction and abduction exercises of occupational therapy. Therefore, the wearable index finger rehabilitation exoskeleton (WIFRE) is studied in this paper. First, a WIFRE is proposed to realize the index joint's independent actuation, including adduction and abduction movements. Second, the local/global kinematic and dynamic manipulability measures are proposed and analyzed to evaluate the performance of the WIFRE. The analysis results show that the dimensional parameters of the WIFRE have a significant effect on its global manipulability measures. The global kinematic and dynamic manipulability measures can be improved by 13%-15% compared with the corresponding minimums. Third, a multi-parameter multi-objective optimization method is proposed to simultaneously enhance the three global manipulability measures. Finally, experiments are performed to verify the effectiveness of the index finger exoskeleton and the global manipulability measures.
资助项目	Beijing Municipal Natural Science Foundation[JQ19020] ; National Natural Science Foundation of China[62025307] ; National Natural Science Foundation of China[U1913209] ; National Natural Science Foundation of China[62073319] ; National Natural Science Foundation of China[62103412] ; China Postdoctoral Science Foundation[260798]
WOS关键词	WEARABLE HAND EXOSKELETON ; DYNAMIC MANIPULATABILITY ; ROBOT ; COMPATIBILITY ; ORTHOSIS ; THERAPY ; ARM
WOS研究方向	Engineering
语种	英语
出版者	PERGAMON-ELSEVIER SCIENCE LTD
WOS记录号	WOS:000696981800004
资助机构	Beijing Municipal Natural Science Foundation ; National Natural Science Foundation of China ; China Postdoctoral Science Foundation
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/46028]
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	Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Li, Guotao,Cheng, Long,Sun, Ning. Design, manipulability analysis and optimization of an index finger exoskeleton for stroke rehabilitation[J]. MECHANISM AND MACHINE THEORY,2022,167:22.
APA	Li, Guotao,Cheng, Long,&Sun, Ning.(2022).Design, manipulability analysis and optimization of an index finger exoskeleton for stroke rehabilitation.MECHANISM AND MACHINE THEORY,167,22.
MLA	Li, Guotao,et al."Design, manipulability analysis and optimization of an index finger exoskeleton for stroke rehabilitation".MECHANISM AND MACHINE THEORY 167(2022):22.