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《Journal of Zhejiang University(Engineering Science)》 2014-06
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Optimal design on shoulder joint of upper limb exoskeleton robot for motor rehabilitation and system application

YAN Hua;YANG Can-jun;CHEN Jie;State Key Laboratory of Fluid Power Transmission and Control,Zhejiang University;  
Considering the low muscle power in post-stroke patients at the early stage,who need an intensive and repetitive movement training to regain their motor abilities,this work presented an exoskeleton system with three training modalities derived from traditional therapy,i.e.mirror training,teaching training and movement repetitive training.In mirror training,patient guides the impaired limb using the unaffected one to improve the voluntary motor coordination.During teaching training,the therapist wears master exoskeleton and guides one or more patients in slaver exoskeletons simultaneously.Movement repetitive training provides continuous movement training to patients,during which the trajectory is specified by the therapist.Based on the same serial kinematic model of the upper limb with seven degrees-of-freedom(DOF),the exoskeleton system comprises two subsystems including a master exoskeleton and a slaver exoskeleton functioning as orientation detection and motion assistance respectively.The mechanical shoulder joint was optimized to match the physiological motion of anatomical center of rotation(CoR)adaptively and improves the compatibility of human-machine kinematic chain.The results of clinical trials verified the ability of the exoskeleton system to provide safe and reliable movement therapy.
【Fund】: 国家自然科学基金资助项目(51221004)
【CateGory Index】: TP242
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