由直纤维气动肌肉驱动的两自由度上肢康复机器人。

Two-Dof Upper Limb Rehabilitation Robot Driven by Straight Fibers Pneumatic Muscles.

作者信息

Durante Francesco, Raparelli Terenziano, Beomonte Zobel Pierluigi

机构信息

Department of Industrial and Information Engineering and Economy (DIIIE), University of L'Aquila, P.le Pontieri 1, Località Monteluco, 67100 L'Aquila, Italy.

Department of Mechanical and Aerospace Engineering (DIMEAS), Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, Italy.

出版信息

Bioengineering (Basel). 2022 Aug 9;9(8):377. doi: 10.3390/bioengineering9080377.

DOI:10.3390/bioengineering9080377

PMID:36004902

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC9405197/

Abstract

In this paper, the design of a 2-dof (degrees of freedom) rehabilitation robot for upper limbs driven by pneumatic muscle actuators is presented. This paper includes the different aspects of the mechanical design and the control system and the results of the first experimental tests. The robot prototype is constructed and at this preliminary step a position and trajectory control by fuzzy logic is implemented. The pneumatic muscle actuators used in this arm are designed and constructed by the authors' research group.

摘要

本文介绍了一种由气动肌肉驱动器驱动的两自由度上肢康复机器人的设计。本文涵盖了机械设计和控制系统的不同方面以及首次实验测试的结果。构建了机器人原型，并在这一初步阶段实施了基于模糊逻辑的位置和轨迹控制。该手臂中使用的气动肌肉驱动器由作者的研究小组设计和制造。