McPherson Andrew I W, Patel Vatsal V, Downey Phillip R, Abbas Alvi Ahmed, Abbott Michael E, Stuart Hannah S
Annu Int Conf IEEE Eng Med Biol Soc. 2020 Jul;2020:4936-4940. doi: 10.1109/EMBC44109.2020.9176037.
This paper presents the design of a motor-augmented wrist-driven orthosis (MWDO) for improved grasp articulation for people with C6-C7 spinal cord injuries. Based on the traditional passive, wrist-driven orthotic (WDO) mechanism, the MWDO allows for both body-powered and motorized actuation of the grasping output thus enabling more flexible and dexterous operation. Here, the associated control scheme enables active decoupling of wrist and finger articulation, which can be useful during certain phases of manipulation tasks. An additional modification to the traditional WDO is the integration of a magnetic latch at the Distal Interphalangeal (DIP) joint allowing for improved pinching. These abilities are demonstrated with common activities of daily living (ADL).
本文介绍了一种用于改善C6 - C7脊髓损伤患者抓握关节活动的电动增强腕驱动矫形器（MWDO）的设计。基于传统的被动腕驱动矫形器（WDO）机制，MWDO允许通过身体驱动和电动驱动来实现抓握输出，从而实现更灵活、更灵巧的操作。在此，相关的控制方案能够实现手腕和手指关节活动的主动解耦，这在操作任务的某些阶段可能会很有用。对传统WDO的另一项改进是在远节指间关节（DIP）处集成了一个磁性锁扣，从而改善捏取动作。这些功能通过日常生活活动（ADL）得以展示。
