Design and Human-machine Compatibility Analysis of Co-Exos for Upper-limb Rehabilitation

doi:10.3901/JME.2018.05.019

Abstract

Abstract: The upper-limb rehabilitation exoskeleton is a critical equipment for stroke patients with the motor function disorder. The exoskeleton devices are used to make up deficiencies of the manual rehabilitation training and reduce the workload of rehabilitation physicians. The configuration synthesis of the exoskeleton is conducted using the advanced mechanisms theory. Besides, the mobilization of the glenohumeral joint (GH) is taken into account. Several configuration combination of the shoulder chain Θ_s and the elbow-forearm chain Θ_ef are obtained. According to optimum principles of configuration a configuration with preferable human-machine compatibility is selected. Then, the compatible exoskeleton (Co-Exos) for the upper-limb rehabilitation is designed and developed. A gravity balance system and elastic components are introduced into Co-Exos for improving the uncertainty and motion cooperativity. The human-machine compatibility model of the shoulder chain Θ_s is established based on the kinematic model of GH. Meanwhile, an approach is proposed to compensate the vertical displacements of GH. The Co-Exos and the upper arm can be simplified as a guide-bar mechanism. The kinematic models of passive joints are deduced. Furthermore, the human-machine compatibility platform is constructed to measure the displacements of passive joints. Though comparing measured displacements with theoretical displacements, it can be found that the shoulder chain Θ_s and the compatible human-machine chain can can compensate the position changes of GH mostly, especially the vertical displacements. Hence Co-Exos has good human-machine compatibility for GH.

Key words: configuration synthesis, glenohumeral joint, human-machine compatibility, passive joint, stroke, upper-limb rehabilitation exoskeleton

CLC Number:

TP24

ZHANG Leiyu, LI Jianfeng, LIU Junhui, HOU Zengguang, PENG Liang, WANG Weiqun. Design and Human-machine Compatibility Analysis of Co-Exos for Upper-limb Rehabilitation[J]. Journal of Mechanical Engineering, 2018, 54(5): 19-28.

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