基于行星齿轮系结构的可穿戴式缆索驱动上肢外骨骼设计
Design of a wearable cable-driven upper limb exoskeleton based on epicyclic gear trains structure.
作者信息
Xiao Feiyun, Gao Yongsheng, Wang Yong, Zhu Yanhe, Zhao Jie
机构信息
School of Mechanical Engineering, Hefei University of Technology, Hefei, Anhui, China.
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang, China.
出版信息
Technol Health Care. 2017 Jul 20;25(S1):3-11. doi: 10.3233/THC-171300.
BACKGROUND
Many countries, including Japan, Italy, and China are experiencing demographic shifts as their populations age. Some basic activities of daily living (ADLs) are difficult for elderly people to complete independently due to declines in motor function.
OBJECTIVE
In this paper, a 6-DOF wearable cable-driven upper limb exoskeleton (CABexo) based on epicyclic gear trains structure is proposed.
METHODS
The main structure of the exoskeleton system is composed of three epicyclic gear train sections. This new exoskeleton has a parallel mechanical structure to the traditional serial structure, but is stiffer and has a stronger carrying capacity. The traditional gear transmission structure is replaced with a cable transmission system, which is quieter, and has higher accuracy and smoother transmission.
RESULTS AND CONCLUSIONS
The static workspace of the exoskeleton is large enough to meet the demand of assisting aged and disabled individuals in completing most of their activities of daily living (ADLs).
背景
包括日本、意大利和中国在内的许多国家，随着人口老龄化正经历人口结构变化。由于运动功能下降，老年人难以独立完成一些基本的日常生活活动（ADL）。
目的
本文提出一种基于行星齿轮系结构的六自由度可穿戴式缆索驱动上肢外骨骼（CABexo）。
方法
外骨骼系统的主要结构由三个行星齿轮系部分组成。这种新型外骨骼与传统的串联结构具有平行的机械结构，但更坚固且承载能力更强。传统的齿轮传动结构被缆索传动系统所取代，该系统更安静，精度更高且传动更平稳。
结果与结论
外骨骼的静态工作空间足够大，能够满足协助老年人和残疾人完成大部分日常生活活动（ADL）的需求。
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