Compliance control of wearable robotic fingers for rehabilitation applications

K. Song, Yea-Yen Chai
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引用次数: 4

Abstract

The rehabilitation quality of stroke patients has drawn much attention in recent years. Researchers have developed various kinds of devices for lower and upper limb rehabilitation functions. In this paper, we present a 3 degrees-of-freedom (3-DOF) wearable robotic fingers for rehabilitation of task-oriented training in grasping tasks. A control strategy is proposed for grasping task training by considering user comfort based-on his/her intention as well as safety in task training procedures. The control strategy is divided into two parts: user compliance control and grasping compliance control. In user compliance control, we employed a mass-spring-damper model for grasping operation when the user exerts an intention force. This strategy allows the user to feel a comfortable guidance of the finger movement. In grasping compliance control, a similar model is used when the finger exoskeleton comes into contact with the object, that the system will become aware of the situation immediately and assist an appropriate grasping force for stable grasping. Experimental verification shows that the developed wearable rehabilitation robotic fingers can provide a comfortable fit for the testers and is capable to assist the testers to achieve grasping task training.
用于康复应用的可穿戴机器人手指顺应性控制
脑卒中患者的康复质量近年来备受关注。研究人员开发了各种用于下肢和上肢康复功能的设备。在本文中,我们提出了一种3自由度(3- dof)可穿戴机器人手指,用于任务导向抓取任务训练的康复。提出了一种基于用户意图的用户舒适度和任务训练过程中的安全性来把握任务训练的控制策略。控制策略分为用户顺应性控制和抓取顺应性控制两部分。在用户顺应性控制中,当用户施加意图力时,我们采用质量-弹簧-阻尼器模型进行抓取操作。这种策略可以让用户感到手指运动的舒适指导。在抓取顺应性控制中,当手指外骨骼与物体接触时,系统将立即意识到情况并辅助适当的抓取力以稳定抓取。实验验证表明,所研制的可穿戴康复机器人手指能够为测试者提供舒适的贴合,并能够辅助测试者完成抓握任务训练。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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