Yihun Yimesker, Miklos Robert, Perez-Gracia Alba, Reinkensmeyer David J, Denney Keith, Wolbrecht Eric T
Dept. of Mechanical Engineering, Idaho State University, Pocatello, ID, USA.
Annu Int Conf IEEE Eng Med Biol Soc. 2012;2012:1916-20. doi: 10.1109/EMBC.2012.6346328.
This paper presents the kinematic design of a spatial, 1-degree-of-freedom closed linkage to be used as an exoskeleton for thumb motion. Together with an already-designed finger mechanism, it forms a robotic device for hand therapy. The goal for the exoskeleton is to generate the desired grasping and pinching path of the thumb with one degree of freedom, rather than using a system actuating all its joints independently. In addition to the path of the thumb, additional constraints are added in order to control the position and size of the exoskeleton, reducing physical and sensory interference with the user.
本文介绍了一种空间单自由度封闭连杆机构的运动学设计，该机构将用作拇指运动的外骨骼。它与已设计好的手指机构一起，构成了一种用于手部治疗的机器人设备。外骨骼的目标是通过单自由度生成拇指所需的抓握和捏合路径，而不是使用一个独立驱动其所有关节的系统。除了拇指的运动路径外，还增加了额外的约束条件，以控制外骨骼的位置和尺寸，减少对使用者的物理和感官干扰。
