Sanjeevi N S S, Vashista Vineet
IEEE Int Conf Rehabil Robot. 2017 Jul;2017:455-460. doi: 10.1109/ICORR.2017.8009290.
Robotic systems are being used for gait rehabilitation of patients with neurological disorder. These devices are externally powered to apply external forces on human limbs to assist the leg motion. Patients while walking with these devices adapt their walking pattern in response to the applied forces. The efficacy of a rehabilitation paradigm thus depends on the human-robot interaction. A cable driven leg exoskeleton (CDLE) use actuated cables to apply external joint torques on human leg. Cables are lightweight and flexible but can only be pulled, thus a CDLE requires redundant cables. Redundancy in CDLE can be utilized to appropriately tune a robot's performance. In this work, we present the stiffness analysis of CDLE. Different stiffness performance indices are established to study the role of system parameters in improving the human-robot interaction.
机器人系统正被用于神经系统疾病患者的步态康复。这些设备由外部供电，以便对人体肢体施加外力来辅助腿部运动。患者在使用这些设备行走时，会根据所施加的力调整自己的行走模式。因此，一种康复模式的效果取决于人机交互。一种缆索驱动腿部外骨骼（CDLE）利用驱动缆索对人腿施加外部关节扭矩。缆索重量轻且灵活，但只能被拉动，因此CDLE需要多余的缆索。CDLE中的冗余可用于适当地调整机器人的性能。在这项工作中，我们展示了CDLE的刚度分析。建立了不同的刚度性能指标，以研究系统参数在改善人机交互中的作用。
