Piña-Martínez Eduardo, Roberts Ricardo, Leal-Merlo Salvador, Rodriguez-Leal Ernesto
Escuela de Ingeniería y Ciencias, Ave. Eugenio Garza Sada 2501, Tecnologico de Monterrey, 64849 Monterrey, NL, Mexico.
Massachusetts Institute of Technology, 77 Massachusetts Ave., Cambridge, MA 02139, USA.
Appl Bionics Biomech. 2018 Jun 3;2018:6019381. doi: 10.1155/2018/6019381. eCollection 2018.
Exoskeletons arise as the common ground between robotics and biomechanics, where rehabilitation is the main field in which these two disciplines find cohesion. One of the most relevant challenges in upper limb exoskeleton design relies in the high complexity of the human shoulder, where current devices implement elaborate systems only to emulate the drifting center of rotation of the shoulder joint. This paper proposes the use of 3D scanning vision technologies to ease the design process and its implementation on a variety of subjects, while a motion tracking system based on vision technologies is applied to assess the exoskeleton reachable workspace compared with an asymptomatic subject. Furthermore, the anatomic fitting index is proposed, which compares the anatomic workspace of the user with the exoskeleton workspace and provides insight into its features. This work proposes an exoskeleton architecture that considers the clavicle motion over the coronal plane whose workspace is determined by substituting the direct kinematics model with the dimensional parameters of the user. Simulations and numerical examples are used to validate the analytical results and to conciliate the experimental results provided by the vision tracking system.
外骨骼作为机器人技术和生物力学的共同基础而出现，康复是这两个学科相结合的主要领域。上肢外骨骼设计中最相关的挑战之一在于人类肩部的高度复杂性，当前的设备采用复杂的系统来模拟肩关节旋转中心的漂移。本文提出使用三维扫描视觉技术来简化设计过程及其在各种受试者身上的实施，同时应用基于视觉技术的运动跟踪系统来评估外骨骼与无症状受试者相比的可达工作空间。此外，还提出了解剖拟合指数，该指数将用户的解剖工作空间与外骨骼工作空间进行比较，并深入了解其特征。这项工作提出了一种外骨骼架构，该架构考虑了锁骨在冠状面上的运动，其工作空间通过用用户的尺寸参数替代直接运动学模型来确定。仿真和数值示例用于验证分析结果，并协调视觉跟踪系统提供的实验结果。
