Wang Ju, Li Jiting, Zhang Yuru, Wang Shuang
State Key Laboratory of Virtual Reality Technology and Systems, Robotics Institute, Beihang University, Beijing, China.
Annu Int Conf IEEE Eng Med Biol Soc. 2009;2009:5957-60. doi: 10.1109/IEMBS.2009.5334779.
This paper presents a new exoskeleton with 4 degrees of freedom (DOF) for index finger rehabilitation. The device can generate bi-directional movement for all joints of the finger through cable transmission, which is required for passive and active trainings. With two prismatic kinematic joints in the design, it can accommodate to some extent variety of hand sizes. The kinematic relation between the device joint angles and the corresponding finger joint angles is simple which greatly simplifies the high level motion control. As the motor capability of patients may be different and the range of motion of the finger may change along with the rehabilitation progress, it is important to take the changes into consideration. And the preliminary experiment has shown that the proposed device is capable of accommodating to these varieties.
本文提出了一种用于食指康复的新型四自由度（DOF）外骨骼。该装置可通过电缆传动为手指的所有关节产生双向运动，这是被动训练和主动训练所必需的。设计中有两个棱柱形运动关节，它能在一定程度上适应不同的手尺寸。该装置关节角度与相应手指关节角度之间的运动关系简单，极大地简化了高层运动控制。由于患者的运动能力可能不同，且手指的运动范围可能随康复进程而变化，考虑这些变化很重要。初步实验表明，所提出的装置能够适应这些变化。
