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Bio-inspired upper limb soft exoskeleton to reduce stroke-induced complications
Li N(李宁)1,2; Yang T(杨铁)1; Yu P(于鹏)1; Chang, Junling3; Zhao L(赵亮)1,2; Zhao XG(赵新刚)1; Elhajj, Imad H.4; Xi N(席宁)1,5; Liu LQ(刘连庆)1
作者部门机器人学研究室
关键词Soft Bionic Exoskeleton Robot Functional Anatomy Muscle Tension Linearization Biomimetic Robot Stroke-induced Complication Motion Ability Recovery Lightweight And Ergonomic
发表期刊BIOINSPIRATION & BIOMIMETICS
ISSN1748-3182
2018
卷号13期号:6页码:1-20
收录类别SCI ; EI
EI收录号20184606078858
WOS记录号WOS:000442657000001
产权排序1
资助机构National Key Research and Development Program of China ; National Natural Science Foundation of China
摘要

Stroke has become the leading cause of disability and the second-leading cause of mortality worldwide. Dyskinesia complications are the major reason of these high death and disability rates. As a tool for rapid motion function recovery in stroke patients, exoskeleton robots can reduce complications and thereby decrease stroke mortality rates. However, existing exoskeleton robots interfere with the wearer's natural motion and damage joints and muscles due to poor human-machine coupling. In this paper, a novel ergonomic soft bionic exoskeleton robot with 7 degrees of freedom was proposed to address these problems based on the principles of functional anatomy and sports biomechanics. First, the human motion system was analysed according to the functional anatomy, and the muscles were modelled as tension lines. Second, a soft bionic robot was established based on the musculoskeletal tension line model. Third, a robot control method mimicking human muscle control principles was proposed and optimized on a humanoid platform manufactured using 3D printing. After the control method was optimized, the motion trajectory similarities between humans and the platform exceeded 87%. Fourth, the force-assisted effect was tested based on electromyogram signals, and the results showed that muscle signals decreased by 58.17% after robot assistance. Finally, motion-assistance experiments were performed with stroke patients. The joint movement level increased by 174% with assistance, which allowed patients to engage in activities of daily living. With this robot, stroke patients could recover their motion functions, preventing complications and decreasing fatality and disability rates.

语种英语
WOS类目Engineering, Multidisciplinary ; Materials Science, bioMaterials ; Robotics
关键词[WOS]Wearable-robots ; Assistance ; Walking ; Rehabilitation ; Performance ; Mechanisms ; Evolution ; Shoulder ; Design ; Homo
WOS研究方向Engineering ; Materials Science ; Robotics
资助项目National Key Research and Development Program of China[2016YFE0206200] ; National Natural Science Foundation of China[61573341] ; National Natural Science Foundation of China[61433017]
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/22725
专题机器人学研究室
通讯作者Yu P(于鹏); Liu LQ(刘连庆)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 10016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
3.Rehabilitation Center for the Disabled, Shenyang, 110015, China
4.Vision and Robotics Lab, Department of Electrical and Computer Engineering, American University of Beirut, Beirut, Lebanon
5.Emerging Technologies Institute, Department of Industrial & Manufacturing Systems Engineering, University of Hong Kong Pokfulam, Hong Kong
推荐引用方式
GB/T 7714
Li N,Yang T,Yu P,et al. Bio-inspired upper limb soft exoskeleton to reduce stroke-induced complications[J]. BIOINSPIRATION & BIOMIMETICS,2018,13(6):1-20.
APA Li N.,Yang T.,Yu P.,Chang, Junling.,Zhao L.,...&Liu LQ.(2018).Bio-inspired upper limb soft exoskeleton to reduce stroke-induced complications.BIOINSPIRATION & BIOMIMETICS,13(6),1-20.
MLA Li N,et al."Bio-inspired upper limb soft exoskeleton to reduce stroke-induced complications".BIOINSPIRATION & BIOMIMETICS 13.6(2018):1-20.
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