Schiele André, van der Helm Frans C T
Automation and Robotics Section, Mechanical Engineering Department, European Space Research and Technology Centre, European Space Agency, 2201 AZ Noordwijk ZH, The Netherlands.
IEEE Trans Neural Syst Rehabil Eng. 2006 Dec;14(4):456-69. doi: 10.1109/TNSRE.2006.881565.
This paper introduces a novel kinematic design paradigm for ergonomic human machine interaction. Goals for optimal design are formulated generically and applied to the mechanical design of an upper-arm exoskeleton. A nine degree-of-freedom (DOF) model of the human arm kinematics is presented and used to develop, test, and optimize the kinematic structure of an human arm interfacing exoskeleton. The resulting device can interact with an unprecedented portion of the natural limb workspace, including motions in the shoulder-girdle, shoulder, elbow, and the wrist. The exoskeleton does not require alignment to the human joint axes, yet is able to actuate each DOF of our redundant limb unambiguously and without reaching into singularities. The device is comfortable to wear and does not create residual forces if misalignments exist. Implemented in a rehabilitation robot, the design features of the exoskeleton could enable longer lasting training sessions, training of fully natural tasks such as activities of daily living and shorter dress-on and dress-off times. Results from inter-subject experiments with a prototype are presented, that verify usability over the entire workspace of the human arm, including shoulder and shoulder girdle.
本文介绍了一种用于人机工程学人机交互的新型运动学设计范式。最优设计目标被一般性地制定，并应用于上臂外骨骼的机械设计。提出了一种九自由度（DOF）的人体手臂运动学模型，并用于开发、测试和优化与人体手臂接口的外骨骼的运动学结构。最终得到的设备能够与自然肢体工作空间中前所未有的部分进行交互，包括肩带、肩部、肘部和腕部的运动。该外骨骼不需要与人体关节轴对齐，但能够明确地驱动冗余肢体的每个自由度，且不会陷入奇异点。该设备佩戴舒适，即使存在未对准情况也不会产生残余力。在康复机器人中实现后，外骨骼的设计特点可以实现更持久的训练课程、对诸如日常生活活动等完全自然任务的训练，以及更短的穿脱时间。展示了对原型进行的受试者间实验结果，这些结果验证了在人体手臂的整个工作空间（包括肩部和肩带）上的可用性。
