1Łukasiewicz Research Network - Krakow Institute of Technology, Zabrze, Poland.
2Department of Biomechatronics, Silesian University of Technology, Zabrze, Poland.
Acta Bioeng Biomech. 2024 Apr 22;26(1):55-66. doi: 10.37190/abb-02386-2024-02. Print 2024 Jun 1.
The purpose of this work is to present a multivariate analysis of the kinematics of an upper limb rehabilitation robot. Comparing multiple concepts of kinematic chains makes it possible to identify advantages and disadvantages and, as a consequence, choosing the optimal solution to create a physical device. Such actions shall contribute towards automation of the rehabilitation process, bringing benefits to both therapists and patients in comparison with conventional rehabilitation. Multivariate analysis of kinematics was performed on the basis of three concepts of the kinematic chain of an exoskeleton, enabling the rehabilitation of both right and left upper limb within the area of the shoulder joint, elbow joint and wrist. The kinematic chain allows the performance of simple and complex movements. The results of the conducted multivariate kinematic analysis define specific movements and angular ranges, which may be performed while applying one of the proposed concepts of the robot design. The results made it possible to determine the optimum solution to the kinematic diagram and construction design, which best satisfy the expectations for effective rehabilitation. The analysis of the kinematic diagram concept of the exoskeleton should be done in relation to its design (construction form). Considering the obtained parameters, it is necessary to find an optimum concept and wisely manoeuvre the values, in order to avoid a situation in which one significant parameter influences another, equally important one. It is noteworthy that the introduction of changes into particular segments of the kinematic chain often has a significant impact on other segments.
这项工作的目的是对上肢康复机器人的运动学进行多变量分析。比较多个运动链的概念可以确定其优缺点，从而选择创建物理设备的最佳解决方案。这些操作有助于康复过程的自动化，与传统康复相比，为治疗师和患者都带来了好处。对三种外骨骼运动链的概念进行了运动学的多变量分析，从而可以在肩关节、肘关节和腕关节区域内对左右上肢进行康复。运动链允许进行简单和复杂的运动。进行的多变量运动学分析的结果定义了特定的运动和角度范围，在应用机器人设计的提出的概念之一时，可以执行这些运动和角度范围。结果使得可以确定运动图和结构设计的最佳解决方案，从而最好地满足有效康复的期望。需要根据设计（结构形式）对外骨骼的运动图概念进行分析。考虑到获得的参数，有必要找到最佳的概念并明智地操纵值，以避免一个重要参数影响另一个同等重要的参数的情况。值得注意的是，对运动链的特定段进行更改通常会对其他段产生重大影响。
