Design of a Human-machine Motion Centre Auto-matched Wrist Rehabilitation Exoskeleton

doi:10.3901/JME.2025.21.100

Abstract

Abstract: Stroke is a neurodegenerative disease, and the leading cause of death and disability among adults in China, which places a significant burden on families and society. Robotic technology can effectively assist stroke patients in neuroplasticity and limb rehabilitation. The wrist joint, as one of the most agile joints in the human body, its dysfunction can significantly degrade the quality of life for patients. Therefore, an exoskeleton robot based on a parallel mechanism has been designed for wrist rehabilitation. The design considered the skeletal structure of the wrist and proposed a novel reduced model that more accurately reflects the biomechanical characteristics of the wrist joint’s movement. Based on the model, the human-machine compatibility and motion characteristics of the designed exoskeleton are analysed by employing the screw theory. The kinematic model of the exoskeleton mechanism is established, and its kinematic performance such as singularity, workspace, and dexterity were evaluated, along with an analysis of its actuation feature. The results indicated that the design meets the rehabilitation needs of the wrist joint and can match the movable wrist joint centre in real-time. Compared to existing studies, the designed exoskeleton exhibits superior kinematic performance and achieves actuation decoupling.

Key words: stroke rehabilitation, parallel mechanism, exoskeleton robot, screw theory

CLC Number:

WANG Tun, ZHANG Hang, ZHANG Shimin, ZHU Xiaoxiao, ZHANG Laibin, DAI Jiansheng. Design of a Human-machine Motion Centre Auto-matched Wrist Rehabilitation Exoskeleton[J]. Journal of Mechanical Engineering, 2025, 61(21): 100-110.

References

[1] FEIGIN V L，BRAININ M，NORRVING B，et al. World stroke organization (WSO)：Global stroke fact sheet 2022[J]. International Journal of Stroke，2022，17(1)：18-29.
[2] 《中国脑卒中防治报告2021》编写组.《中国脑卒中防治报告2021》概要[J]. 中国脑血管病杂志，2023，20(11)：783-793. Writing group of the report on stroke prevention and treatment in China. Brief report on stroke prevention and treatment in China，2021[J]. Chinese Journal of Cerebrovascular Diseases，2023，20(11)：783-793.
[3] TAKEMURA H，ONODERA T，MING Ding，et al. Design and control of a wearable stewart platform-type ankle-foot assistive device[J]. International Journal of Advanced Robotic Systems，2012，9(5)：202.
[4] DAI J S，ZHAO T，NESTER C. Sprained ankle physiotherapy based mechanism synthesis and stiffness analysis of a robotic rehabilitation device[J]. Autonomous Robots，2004，16(2)：207-218.
[5] MENG W，LIU Q，ZHOU Z D，et al. Recent development of mechanisms and control strategies for robot-assisted lower limb rehabilitation[J]. Mechatronics，2015，31：132-145.
[6] 任毅明. 便携式混联腕关节康复机构的设计与性能分析[D]. 太原：中北大学，2023. REN Yiming. Design and performance analysis of portable hybrid wrist joint rehabilitation mechanism[D]. Taiyuan：North University of China，2023.
[7] HUSSAIN S，JAMWAL P K，VAN VLIET P，et al. State-of-the-art robotic devices for wrist rehabilitation：Design and control aspects[J]. IEEE Transactions on Human-Machine Systems，2020，50(5)：361-372.
[8] KREBS H I，VOLPE B T，WILLIAMS D，et al. Robot-aided neurorehabilitation：A robot for wrist rehabilitation[J]. IEEE Transactions on Neural Systems and Rehabilitation Engineering，2007，15(3)：327-335.
[9] LAMBERCY O，DOVAT L，GASSERT R，et al. A haptic knob for rehabilitation of hand function[J]. IEEE Transactions on Neural Systems and Rehabilitation Engineering，2007，15(3)：356-366.
[10] SQUERI V，MASIA L，GIANNONI P，et al. Wrist rehabilitation in chronic stroke patients by means of adaptive，progressive robot-aided therapy[J]. IEEE Transactions on Neural Systems and Rehabilitation Engineering，2014，22(2)：312-325.
[11] VALLERY H，VENEMAN J，VAN ASSELDONK E，et al. Compliant actuation of rehabilitation robots[J]. IEEE Robotics & Automation Magazine，2008，15(3)：60-69.
[12] GUPTA A，O’MALLEY M K，PATOGLU V，et al. Design，control and performance of ricewrist：A force feedback wrist exoskeleton for rehabilitation and training[J]. International Journal of Robotics Research，2008，27(2)：233-251.
[13] PEHLIVAN A U，CELIK O，O'MALLEY M K. Mechanical design of a distal arm exoskeleton for stroke and spinal cord injury rehabilitation[C]//2011 IEEE International Conference on Rehabilitation Robotics，Zurich，2011：1-5.
[14] CEMPINI M，DE ROSSI S M M，LENZI T，et al. Self-alignment mechanisms for assistive wearable robots：A kinetostatic compatibility method[J]. IEEE Transactions on Robotics，2013，29(1)：236-250.
[15] WANG T，SPYRAKOS-PAPASTAVRIDIS E，DAI J S. Design and analysis of a novel reconfigurable ankle rehabilitation exoskeleton capable of matching the mobile biological joint center in real-time[J]. ASME Journal of Mechanisms and Robotics，2023，15(1)：011011.
[16] WANG T，OLIVONI E，SPYRAKOS-PAPASTAVRIDIS E，et al. Novel design of a rotation center auto-matched ankle rehabilitation exoskeleton with decoupled control capacity[J]. ASME Journal of Mechanical Design，2022，144(5)：053301.
[17] RAHMAN M H，RAHMAN M J，CRISTOBAL O L，et al. Development of a whole arm wearable robotic exoskeleton for rehabilitation and to assist upper limb movements[J]. Robotica，2015，33(1)：19-39.
[18] BUONGIORNO D，SOTGIU E，lEONARDIS D，et al. Wres：A novel 3 dof wrist exoskeleton with tendon-driven differential transmission for neuro-rehabilitation and teleoperation[J]. IEEE Robotics and Automation Letters，2018，3(3)：2152-2159.
[19] ZHANG L Y，LI J F，CUI Y，et al. Design and performance analysis of a parallel wrist rehabilitation robot (PWRR)[J]. Robotics and Autonomous Systems，2020，125：103390.
[20] 王源. 外骨骼上肢机器人运动康复虚拟现实训练与评价研究[D]. 上海：上海交通大学， 2013. WANG Yuan. Research of virtual reality training and evaluation for exoskeleton upper limb rehabilitation robot[D]. Shanghai：Shanghai Jiaotong University，2013.
[21] 马志广. 新型绳传动混联肘腕康复机器人的设计与分析[D]. 天津：河北工业大学，2018. MA Zhiguang. Design and analysis of a novel rope drive hybrid elbow and wrist rehabilitation robot[D]. Tianjin：Hebei University of Technology，2018.
[22] 刘斌. 上肢康复外骨骼机器人系统关键技术研究[D]. 合肥：中国科学技术大学，2023. LIU Bin. Research on key technologies of upper limb rehabilitation exoskeleton robot system[D]. Hefei：University of Science and Technology of China，2023.
[23] NAF M B，JUNIUS K，ROSSINI M，et al. Misalignment compensation for full human-exoskeleton kinematic compatibility：State of the art and evaluation[J]. ASME Applied Mechanics Reviews，2018，70(5)：050802.
[24] 张雷雨，常雅威，俞振东，等. 并联腕康复机器人的设计与运动学性能评价[J]. 机械工程学报，2024，60(17)：123-132. ZHANG Leiyu，CHANG Yawei，YU Zhendong，et al. Design and kinematic analysis of parallel wrist rehabilitation robot[J]. Journal of Mechanical Engineering，2024，60(17)：123-132.
[25] CEMPINI M，DE ROSSSI S M M，LENZI T，et al. Self-alignment mechanisms for assistive wearable robots：A kinetostatic compatibility method[J]. IEEE Transactions on Robotics，2013，29(1)：236-250.
[26] PONS J L. Rehabilitation exoskeletal robotics. The promise of an emerging field[J]. IEEE Engineering in Medicine and Biology Magazine. 2010，29(3)：57-63.
[27] KIM J Y，SUNG H S，KANG Y K，et al. Development and evaluation of a method to measure wrist range of motion on paretic hand rehabilitation device[C]//2017 International Conference on Rehabilitation Robotics，London，2017：1337-1342.
[28] GRAY H. Anatomy of the human body[M]. London：John William Parker，1918.
[29] MOLAEI A，FOOMANY N A，PARSAPOUR M，et al. A portable low-cost 3D-printed wrist rehabilitation robot：Design and development[J]. Mechanism and Machine Theory，2022，171：104719.
[30] DAI J S，REES JONES J. Null-space construction using cofactors from a screw-algebra context[J]. Proceedings of the Royal Society A，2002，458：1845-1866.
[31] WANG T，LIN Y H，SPYRAKOS- PAPASTAVRIDIS E，et al. Stiffness evaluation of a novel ankle rehabilitation exoskeleton with a type-variable constraint[J]. Mechanism and Machine Theory，2023，179：105071.
[32] 王庆峰，李虹，王新宇，等. 2-SPR/RCU并联机构的运动性能与灵巧度分析[J]. 机械科学与技术，2021，40(8)：1177-1185. WANG Qingfeng，LI Hong，WANG Xinyu，et al. Analysis on kinematic performance and dexterity of 2-SPR/RCU asymmetric parallel mechanism[J]. Mechanical Science and Technology for Aerospace Engineering，2021，40(8)：1177-1185.
[33] 陈明方，黄良恩，张永霞，等. 3-PUU并联机构的运动学分析与验证[J]. 工程设计学报，2023，30(6)：763-778. CHEN Fangming，HUANG Enling，ZHANG Yongxia，et al. Kinematic analysis and validation of 3-PUU parallel mechanism[J]. Chinese Journal of Engineering Design，2023，30(6)：763-778.
[34] WU G L，BAI S P. Design and kinematic analysis of a 3-RRR spherical parallel manipulator reconfigured with four–bar linkages[J]. Robotics and Computer-Integrated Manufacturing，2019，56：55-65.
[35] DEHNO N S，SARVESTANI F K，SHARIAT A，et al. Measuring muscle tone with isokinetic dynamometer technique in stroke patients[J]. Biomedical Human Kinetics，2019，11(1)：144-150.
[36] FORMICA D，CHARLES S K，ZOLLO L，et al. The passive stiffness of the wrist and forearm[J]. Journal of Neurophysiology，2012，108(4)：1158-1166.