A compact wrist rehabilitation robot with accurate force/stiffness control and misalignment adaptation
Journal
International Journal of Intelligent Robotics and Applications
Journal Volume
3
Journal Issue
1
Start Page
45
End Page
58
ISSN
2366598X
23665971
Date Issued
2019
Author(s)
Abstract
Robots have been demonstrated to assist the rehabilitation of patients with upper or lower limb disabilities. To make exoskeleton robots more friendly and accessible to patients, they need to be lightweight and compact without major performance tradeoffs. Existing upper-limb exoskeleton robots focus on the assistance of the coarse-motion of the upper arm while the fine-motion rehabilitation of the forearm is often ignored. This paper presents a wrist robot with three degrees-of-freedom. Using a geared bearing, slider crank mechanisms, and a spherical mechanism, this robot can provide the complete motion assistance for the forearm. The optimized robot dimensions allow large torque and rotation output while the motors are placed parallel to the forearm. Thus lightweight, compactness, and better inertia properties can be achieved. Linear and rotary series elastic actuators (SEAs) with high torque-to-weight ratios are proposed to accurately measure and control the interaction force and impedance between the robot and the wrist. The resulting 1.5-kg robot can be used alone or easily in combination with other robots to provide various robot-aided upper limb rehabilitation.
Subjects
Impedance Control
Misalignment Adaptation
Parallel Spherical Mechanism
Rehabilitation Robot
Series Elastic Actuator
Torque-to-weight Ratio
Wrist Exoskeleton
Actuators
Agricultural Robots
Alignment
Degrees Of Freedom (mechanics)
Exoskeleton (robotics)
Neuromuscular Rehabilitation
Impedance Control
Misalignment Adaptation
Rehabilitation Robot
Series Elastic Actuators
Spherical Mechanisms
Weight Ratios
Robots
Publisher
Springer
Type
journal article