Design and analysis of a portable wrist rehabilitation instrument based on Bricard linkage

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory Pub Date : 2025-10-08 DOI:10.1016/j.mechmachtheory.2025.106253

Shun Yao , Jinyi Lv , Zhuoni Liu , Yuqiao Jiang , Jiangming Kan

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Abstract

In this paper, a portable wrist rehabilitation instrument based on the Bricard linkage is presented. The instrument functions through the spatial tumbling of the Bricard linkage. The movement has similarities with wrist kinematics and is designed to guide wrist rehabilitation. First, the mechanical scheme of the instrument is presented. The wrist kinematics is analyzed, which are flexion & extension, ulnar & radial deviation. Second, for the reason that the movements of the Bricard linkage are similar to that of the Schatz linkage, the kinematic of the instrument is analyzed through the Schatz linkage. Third, the energy consumption of the instrument is calculated and a corresponding wrist rehabilitation exercise is choreographed. Finally, a prototype is manufactured, and a series of experiments are carried out. The results validate that the wrists could be guided by the instrument. The wrists could be fully exercised, and the efficiency of the rehabilitation would be evaluated by the energy consumption in the wrist exercise.

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基于Bricard连杆的便携式腕部康复仪的设计与分析

本文提出了一种基于Bricard连杆的便携式腕部康复仪。该仪器通过布里卡连杆的空间翻滚发挥作用。该运动与手腕运动有相似之处，旨在指导手腕康复。首先，给出了仪器的机械结构方案。分析了腕部屈伸、尺桡偏移的运动学特征。其次，由于布里卡德连杆机构的运动与沙茨连杆机构相似，因此通过沙茨连杆机构对仪器的运动学进行了分析。第三，计算仪器的能量消耗，并编排相应的手腕康复运动。最后，制作了样机，并进行了一系列实验。结果表明，该仪器可以实现腕关节的引导。可以充分锻炼腕关节，通过腕关节运动的能量消耗来评价康复效果。

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

Mechanism and Machine Theory 工程技术-工程：机械

CiteScore

9.90

自引率

23.10%

发文量

450

审稿时长

20 days

期刊介绍： Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry