In: Venture G., Solis J., Takeda Y., Konno A. (eds) ROMANSY 23 - Robot Design, Dynamics and Control. ROMANSY 2020. CISM International Centre for Mechanical Sciences (Courses and Lectures)
巻, 号, ページ
Vol. 601
pp. 321-329
出版年月
2020年9月
出版者
和文:
英文:
Springer, Cham
会議名称
和文:
英文:
The 23rd CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY2020)
Developing a simple, comfortable rehabilitation robot that can carry out in-home rehabilitation has been a long-time challenge. In this paper, we present a rehabilitation robot with one degree of freedom (DOF) for wrist joint flexion-extension movement. Passive joints have been added to the exoskeleton, forming a four-bar slider crank mechanism, which can reduce unwanted forces due to joint misalignment. A concept of modeling human soft tissue as a passive prismatic joint with spring is introduced in order to achieve the compactness and comfort of the robot simultaneously. In addition, the effects of human soft tissue displacement are compared. A trade-off between robot volume and comfort is discussed. Finally, the kineto-static analysis of the proposed design is conducted to prove the feasibility of adopting this concept in robot-assisted rehabilitation.
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