Design and analysis of a compliant elbow-joint for arm rehabilitation robot

2018 13th IEEE Conference on Industrial Electronics and Applications (ICIEA) Pub Date : 2018-05-01 DOI:10.1109/ICIEA.2018.8398097

Jianbin Zhang, Xiaofeng Li, Jingmeng Liu, Weihai Chen

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引用次数: 5

Abstract

Rehabilitation robot aided sensorimotor training positively affects the reduction of impairment in patients. Due to the complexity of the physical structure of the upper limb of the human body, the joints of the robot are difficult to be aligned with the human joints in real time. This situation may cause pain or harm to the patient. Nowadays, more and more rehabilitation robots aim at clinical requirements such as being lightweight and the friendly interaction between robot and patient. So in this paper, we present the design and analysis of a compliant elbow-joint for arm rehabilitation robot which focuses on human-robot interaction. Firstly, a cable-driven arm rehabilitation robot is designed for the shoulder and elbow rehabilitation, which has the property of lightweight and flexibility. Secondly, an axis-adjustable elbow joint is designed to achieve real-time alignment with the skeletal elbow joint using a set of compliant mechanisms. Finally, the simulation results of the compliant elbow-joint can prove the design has a more friendly human-robot interaction.

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手臂康复机器人柔性肘关节的设计与分析

康复机器人辅助感觉运动训练对减少患者损伤有积极影响。由于人体上肢物理结构的复杂性，机器人的关节很难与人体关节实时对齐。这种情况可能会对患者造成疼痛或伤害。目前，越来越多的康复机器人瞄准临床需求，如轻量化和机器人与患者之间的友好互动。因此，本文以人机交互为核心，对手臂康复机器人柔顺肘关节进行了设计与分析。首先，设计了一种用于肩部和肘部康复的缆索驱动手臂康复机器人，该机器人具有轻便、灵活的特点。其次，设计了一种轴向可调肘关节，利用一套柔性机构实现与骨骼肌肘关节的实时对准。最后，对柔性肘关节的仿真结果表明，该设计具有更友好的人机交互。

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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来源期刊

2018 13th IEEE Conference on Industrial Electronics and Applications (ICIEA)

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