Malosio Matteo, Pedrocchi Nicola, Vicentini Federico, Tosatti Lorenzo Molinari
Institute of Industrial Technologies and Automation, Italian National Council of Research via Bassini 15, 20133 Milano, Italy.
IEEE Int Conf Rehabil Robot. 2011;2011:5975393. doi: 10.1109/ICORR.2011.5975393.
This paper presents advantages of introducing elbow-joints misalignments in an exoskeleton for upper limb rehabilitation. Typical exoskeletons are characterized by axes of the device as much as possible aligned to the rotational axes of human articulations. This approach leads to advantages in terms of movements and torques decoupling, but can lead to limitations nearby the elbow singular configuration. A proper elbow axes misalignment between the exoskeleton and the human can improve the quality of collaborative rehabilitation therapies, in which a correct torque transmission from human articulations to mechanical joints of the device is required to react to torques generated by the patient.
本文介绍了在用于上肢康复的外骨骼中引入肘关节错位的优点。典型的外骨骼的特点是其装置的轴尽可能与人体关节的旋转轴对齐。这种方法在运动和扭矩解耦方面具有优势，但在肘关节奇异构型附近可能会导致局限性。外骨骼与人体之间适当的肘关节轴错位可以提高协同康复治疗的质量，其中需要从人体关节到装置的机械关节进行正确的扭矩传递，以应对患者产生的扭矩。
