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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
Department机器人学研究室
Source PublicationBIOINSPIRATION & BIOMIMETICS
ISSN1748-3182
2018
Volume13Issue:6Pages:1-20
Indexed BySCI ; EI
EI Accession number20184606078858
WOS IDWOS:000442657000001
Contribution Rank1
Funding OrganizationNational Key Research and Development Program of China ; National Natural Science Foundation of China
KeywordSoft Bionic Exoskeleton Robot Functional Anatomy Muscle Tension Linearization Biomimetic Robot Stroke-induced Complication Motion Ability Recovery Lightweight And Ergonomic
Abstract

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.

Language英语
WOS SubjectEngineering, Multidisciplinary ; Materials Science, bioMaterials ; Robotics
WOS KeywordWearable-robots ; Assistance ; Walking ; Rehabilitation ; Performance ; Mechanisms ; Evolution ; Shoulder ; Design ; Homo
WOS Research AreaEngineering ; Materials Science ; Robotics
Funding ProjectNational Key Research and Development Program of China[2016YFE0206200] ; National Natural Science Foundation of China[61573341] ; National Natural Science Foundation of China[61433017]
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/22725
Collection机器人学研究室
Corresponding AuthorYu P(于鹏); Liu LQ(刘连庆)
Affiliation1.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
Recommended Citation
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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