A task-based design methodology for robotic exoskeletons:

Journal of Rehabilitation and Assistive Technologies Engineering

OmidHeidari¹ 

关键词: Task-based rehabilitation;    exoskeleton design;    kinematic synthesis;    thumb rehabilitation;    Bricard mechanism;   

DOI  :  10.1177/2055668318800672

学科分类：工程和技术（综合）

来源: Sage Journals

【 摘 要 】

IntroductionThis study is aimed at developing a task-based methodology for the design of robotic exoskeletons. This is in contrast to prevailing research efforts, which attempt to mimic the human limb, where each human joint is given an exoskeleton counter-joint. Rather, we present an alternative systematic design approach for the design of exoskeletons that can follow the complex three-dimensional motions of the human body independent of anatomical measures and landmarks. With this approach, it is not necessary to know the geometry of the targeted limb but rather to have a description of its motion at the point of attachment.MethodsThe desired trajectory of the targeted limb has been collected through a motion capture system from a healthy subject. Then, an approximate dimensional synthesis has been employed to specify the size of the mechanism and its location with respect to the limb, while generating the desired trajectory. The procedure for this method, from motion capture to kinematic synthesis to m...

【 授权许可】

CC BY