腕部康复软性机器人装置的设计与仿真

Yuejun Xu
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引用次数: 2

摘要

最近,软机器人在提供机器人辅助康复方面变得非常流行,因为它们具有顺应性,这使得它们与人类用户的交互安全。在特定任务的康复练习中,上肢的几个关节必须是可移动的,但软体机器人外骨骼通常专注于手部康复。软气动执行器(SPA)是一种能够实现柔性机器人装置多样化、复杂运动的柔性机器人技术。在这项工作中,设计并模拟了一种辅助便携式软机器人,用于腕部功能障碍患者的腕部康复。该机器人装置采用软致动器,带有模压弹性体腔和壳增强板,在气动压力下诱导特定的弯曲轨迹。对矩形、梯形和圆弧三种截面形状的执行器进行了仿真比较,讨论了不同截面形状的执行器在腕部康复设备中的应用效率。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Design and Simulation of a Soft Robotic Device for Wrist Rehabilitation
Recently, soft robotics have become very popular in providing robot-assisted rehabilitation because of their compliant nature, which makes their interactions with human users safe. In task-specific rehabilitative exercises, several upper limb joints have to be mobile, but soft robotic exoskeletons have generally focused on hand rehabilitation. Soft pneumatic actuator (SPA) is a kind of soft robotic technique that enabling diverse and complex motion of the soft robotic devices. In this work, an assistive and portable soft robot has been designed and simulated for the rehabilitation of wrist in individuals suffering from wrist dysfunction. The robotic device uses soft actuators with molded elastomeric chambers and shell reinforcement plates which induce specific bending trajectories under pneumatic pressurizations. A kind of actuator with three different section-shapes -rectangle, trapezoid and arc-shaped-are simulated and compared, the efficiency of different section shape actuators used in wrist rehabilitation equipment is discussed.
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