一种用于脊髓损伤和中风患者康复和援助的柔软高力量手外骨骼
A Soft High Force Hand Exoskeleton for Rehabilitation and Assistance of Spinal Cord Injury and Stroke Individuals
摘要：
患有脊髓损伤（SCI）和中风且缺乏操作能力的人对机器人手外骨骼有特殊的需求。在辅助和康复医疗外骨骼中，在一方面的设备功率与另一方面的人体工程学和便携性之间存在尖锐的权衡，提供更强的抓握辅助的设备是以患者舒适度为代价的。本文提出了使用鳍射线启发，电缆驱动的手指矫形器，以产生高指尖的力量，而没有痛苦的压缩和剪切应力通常与传统的电缆驱动外骨骼。通过组合线缆驱动的传动装置和分段手指矫形器，外骨骼将更大的力和施加的扭矩离散地传递到手指，从而导致强大的指尖力。制作了手指矫形器和相关线缆传输的原型，并且在手指屈曲模式下对原型的力传输测试表明线缆张力和指尖力之间的输入输出比为2：1，最大指尖力为22 N。此外，所提出的设计为佩戴者提供了舒适的体验，这要归功于其重量轻且与手共形的特性。
英文摘要：
Individuals with spinal cord injury (SCI) and stroke who is lack of manipulation capability have a particular need for robotic hand exoskeletons. Among assistive and rehabilitative medical exoskeletons, there exists a sharp trade-off between device power on the one hand and ergonomics and portability on other, devices that provide stronger grasping assistance do so at the cost of patient comfort. This paper proposes using fin-ray inspired, cable-driven finger orthoses to generate high fingertip forces without the painful compressive and shear stresses commonly associated with conventional cable-drive exoskeletons. With combination cable-driven transmission and segmented-finger orthoses, the exoskeleton transmitted larger forces and applied torques discretely to the fingers, leading to strong fingertip forces. A prototype of the finger orthoses and associated cable transmission was fabricated, and force transmission tests of the prototype in the finger flexion mode demonstrated a 2:1 input-output ratio between cable tension and fingertip force, with a maximum fingertip force of 22 N. Moreover, the proposed design provides a comfortable experience for wearers thanks to its lightweight and conformal properties to the hands.
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