Design, manipulability analysis and optimization of an index finger exoskeleton for stroke rehabilitation

doi:10.1016/j.mechmachtheory.2021.104526

	Design, manipulability analysis and optimization of an index finger exoskeleton for stroke rehabilitation
	Li, Guotao; Cheng, Long; Sun, Ning
发表期刊	MECHANISM AND MACHINE THEORY
ISSN	0094-114X
	2022
卷号	167 页码:22
通讯作者	Cheng, Long(long.cheng@ia.ac.cn)
摘要	Rehabilitation medicine studies have indicated that occupational therapy has a positive effect on the recovery of hand function. However, few wearable hand exoskeletons can assist in performing the adduction and abduction exercises of occupational therapy. Therefore, the wearable index finger rehabilitation exoskeleton (WIFRE) is studied in this paper. First, a WIFRE is proposed to realize the index joint's independent actuation, including adduction and abduction movements. Second, the local/global kinematic and dynamic manipulability measures are proposed and analyzed to evaluate the performance of the WIFRE. The analysis results show that the dimensional parameters of the WIFRE have a significant effect on its global manipulability measures. The global kinematic and dynamic manipulability measures can be improved by 13%-15% compared with the corresponding minimums. Third, a multi-parameter multi-objective optimization method is proposed to simultaneously enhance the three global manipulability measures. Finally, experiments are performed to verify the effectiveness of the index finger exoskeleton and the global manipulability measures.
关键词	Wearable exoskeleton Kinematics Manipulability Optimization
DOI	10.1016/j.mechmachtheory.2021.104526
关键词[WOS]	WEARABLE HAND EXOSKELETON ; DYNAMIC MANIPULATABILITY ; ROBOT ; COMPATIBILITY ; ORTHOSIS ; THERAPY ; ARM
收录类别	SCI
语种	英语
资助项目	Beijing Municipal Natural Science Foundation[JQ19020] ; National Natural Science Foundation of China[62025307] ; National Natural Science Foundation of China[U1913209] ; National Natural Science Foundation of China[62073319] ; National Natural Science Foundation of China[62103412] ; China Postdoctoral Science Foundation[260798]
项目资助者	Beijing Municipal Natural Science Foundation ; National Natural Science Foundation of China ; China Postdoctoral Science Foundation
WOS研究方向	Engineering
WOS类目	Engineering, Mechanical
WOS记录号	WOS:000696981800004
出版者	PERGAMON-ELSEVIER SCIENCE LTD
七大方向——子方向分类	多模态智能
引用统计	被引频次：29[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/46029
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Cheng, Long
作者单位	Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Li, Guotao,Cheng, Long,Sun, Ning. Design, manipulability analysis and optimization of an index finger exoskeleton for stroke rehabilitation[J]. MECHANISM AND MACHINE THEORY,2022,167:22.
APA	Li, Guotao,Cheng, Long,&Sun, Ning.(2022).Design, manipulability analysis and optimization of an index finger exoskeleton for stroke rehabilitation.MECHANISM AND MACHINE THEORY,167,22.
MLA	Li, Guotao,et al."Design, manipulability analysis and optimization of an index finger exoskeleton for stroke rehabilitation".MECHANISM AND MACHINE THEORY 167(2022):22.