A Biomimetic Tendon-driven Soft Hand Exoskeleton for Finger Extension based on Musculoskeletal and Biomechanical Principles

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	A Biomimetic Tendon-driven Soft Hand Exoskeleton for Finger Extension based on Musculoskeletal and Biomechanical Principles
	Chen WY(陈文远)1,2,4; Li GY(李广勇)3; Li N(李宁)1,2,4; Wang WX(王文学)4; Yu P(于鹏)4; Liu LQ(刘连庆)4
	2021
会议日期	December 27-31, 2021
会议地点	Sanya, China
页码	1246-1251
英文摘要	Stroke has become the leading cause of disability worldwide, especially causing the loss of hand functions. Researchers now are trying to develop soft hand exoskeleton in attempt to alleviate the demand for intensive care from occupational therapists during long-term rehabilitation training for stroke patients. Traditional designs of soft hand exoskeletons pay much attention to the contraction of fingers but little attention to the extension of fingers. Inappropriate designs often result in uncoordinated and uncomfortable finger extension during the patient's rehabilitation training exercise. A kinematic analysis shows that the traditional tendon-driven mechanism cause the uncomfortable fingers extension because the regulation to adjust the three joints using a single tendon is not in accordance with biomechanical principles. To address this problem, we designed a biomimetic tendon-driven soft hand exoskeleton based on the human musculoskeletal model and sports biomechanical principles for finger extension. The experimental evaluation of both healthy and stroke subjects shows that finger extension with the assistance of exoskeleton has a similar trajectory and angular coupling relationship with human finger extension, indicating that the biomimetic mechanism can achieve finger extension in a comfortable manner.The biomimetic tendon-driven soft hand exoskeleton has been tested and successfully demonstrated that it can assist the stroke patients to complete coordinated and comfortable fingers extension exercises.
源文献作者	Chiba Institute of Technology ; et al. ; IEEE Robotics and Automation Society ; Nankai University ; Shenyang Institute of Automation ; Shenzhen Academy of Robotics
产权排序	1
会议录	2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
会议录出版者	IEEE
会议录出版地	New　York
语种	英语
ISBN号	978-1-6654-0535-5
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/30824]
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.Institutes for Robotics and Intelligent Manfacturing, Chinese Academy of Sciences, Shenyang 110016, China 2.University of Chinese Academy of Sciences, Beijing 100049, China 3.Department of Electrical and Computer Engineering, Swanson School of Engineering, University of Pittsburgh, United States 4.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式 GB/T 7714	Chen WY,Li GY,Li N,et al. A Biomimetic Tendon-driven Soft Hand Exoskeleton for Finger Extension based on Musculoskeletal and Biomechanical Principles[C]. 见:. Sanya, China. December 27-31, 2021.