Masia L, Krebs Hermano Igo, Cappa P, Hogan N
Robotics, Brain and Cognitive Science Department, Italian Institute of Technology, 16163 Genoa, Italy.
IEEE ASME Trans Mechatron. 2007 Aug 1;12(4):399-407. doi: 10.1109/TMECH.2007.901928.
In 1991, a novel robot named MIT-MANUS was introduced as a test bed to study the potential of using robots to assist in and quantify the neurorehabilitation of motor function. It introduced a new modality of therapy, offering a highly backdrivable experience with a soft and stable feel for the user. MIT-MANUS proved an excellent fit for shoulder and elbow rehabilitation in stroke patients, showing a reduction of impairment in clinical trials with well over 300 stroke patients. The greatest impairment reduction was observed in the group of muscles exercised. This suggests a need for additional robots to rehabilitate other target areas of the body. Previous work has expanded the planar MIT-MANUS to include an antigravity robot for shoulder and elbow, and a wrist robot. In this paper we present the "missing link": a hand robot. It consists of a single-degree-of-freedom (DOF) mechanism in a novel statorless configuration, which enables rehabilitation of grasping. The system uses the kinematic configuration of a double crank and slider where the members are linked to stator and rotor; a free base motor, i.e., a motor having two rotors that are free to rotate instead of a fixed stator and a single rotatable rotor (dual-rotor statorless motor). A cylindrical structure, made of six panels and driven by the relative rotation of the rotors, is able to increase its radius linearly, moving or guiding the hand of the patients during grasping. This module completes our development of robots for the upper extremity, yielding for the first time a whole-arm rehabilitation experience. In this paper, we will discuss in detail the design and characterization of the device.
1991年，一款名为MIT - MANUS的新型机器人作为测试平台被引入，用于研究使用机器人协助并量化运动功能神经康复的潜力。它引入了一种新的治疗方式，为用户提供了具有柔软稳定触感的高度可反向驱动体验。事实证明，MIT - MANUS非常适合中风患者的肩部和肘部康复，在超过300名中风患者参与的临床试验中显示出损伤减少。在运动的肌肉组中观察到最大程度的损伤减少。这表明需要额外的机器人来康复身体的其他目标部位。先前的工作已将平面的MIT - MANUS扩展到包括用于肩部和肘部的反重力机器人以及腕部机器人。在本文中，我们展示了“缺失的环节”：一款手部机器人。它由一个新颖的无定子配置的单自由度（DOF）机构组成，能够实现抓握功能的康复训练。该系统采用双曲柄滑块的运动学配置，其中各部件与定子和转子相连；一个自由基座电机，即具有两个可自由旋转转子而非固定定子和单个可旋转转子的电机（双转子无定子电机）。一个由六个面板制成并由转子的相对旋转驱动的圆柱形结构，能够线性增加其半径，在抓握过程中移动或引导患者的手部。这个模块完善了我们上肢机器人的研发，首次实现了全臂康复体验。在本文中，我们将详细讨论该设备的设计和特性。
