Nunes Wilgo Moreira, Rodrigues Lucas Antônio Oliveira, Oliveira Lucas Paiva, Ribeiro José Francisco, Carvalho João Carlos Mendes, Gonçalves Rogério Sales
School of Mechanical Engineering – FEMEC, Federal University of Uberlândia – UFU, Uberlândia, Brazil.
IEEE Int Conf Rehabil Robot. 2011;2011:5975503. doi: 10.1109/ICORR.2011.5975503.
In this paper a cable-based system is presented for rehabilitation of the shoulder and elbow movements. Cable-based manipulators have very good kinematic and dynamic characteristics, and they also show other properties such as: transportability and low-cost construction, which make them also suitable for medical applications and rehabilitation. The general robotics structure consists of four cables that allow the movement of vertical flexion-extension, abduction-adduction and horizontal flexion-extension with different limits of movement and speed of the shoulder. The structure can also perform the elbow movements of the flexion-extension. The development of this robotic device is justified by the large number of people with upper limb problems. These problems are due of stroke, polio, arthritis, recovery after accidents or trauma and can be applied to movements of physical therapy. The kinematics model of cable-based parallel robots is obtained similarly to the model obtained from traditional parallel structures. The graphical simulations of the cable-based parallel structure for rehabilitation of the movements of the human arm are presented showing the viability of the proposed structure. Finally preliminary experimental tests are presented.
本文提出了一种用于肩部和肘部运动康复的基于缆绳的系统。基于缆绳的操纵器具有非常好的运动学和动力学特性，并且还展现出其他特性，如：可运输性和低成本构造，这使得它们也适用于医疗应用和康复领域。一般的机器人结构由四根缆绳组成，这些缆绳允许肩部进行垂直屈伸、外展内收以及水平屈伸运动，且运动范围和速度各有不同限制。该结构还能进行肘部的屈伸运动。开发这种机器人设备的合理性在于有大量上肢存在问题的人群。这些问题由中风、小儿麻痹症、关节炎、事故或创伤后的恢复等引起，并且该设备可应用于物理治疗运动。基于缆绳的并联机器人的运动学模型与从传统并联结构获得的模型类似。给出了基于缆绳的并联结构用于人体手臂运动康复的图形模拟，展示了所提出结构的可行性。最后给出了初步的实验测试。
