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Bioinspired Musculoskeletal Model-based Soft Wrist Exoskeleton for Stroke Rehabilitation
Li N(李宁)1,2,3; Yang T(杨铁)1,2; Yang Y(杨洋)1,2; Yu P(于鹏)1,2; Xue, Xiujuan4; Zhao XG(赵新刚)1,2; Song GL(宋国立)1,2; Elhajj, Imad H.5; Wang WX(王文学)1,2; Liu LQ(刘连庆)1,2
Source PublicationJournal of Bionic Engineering
Indexed BySCI ; EI
EI Accession number20204409418165
WOS IDWOS:000584044000002
Contribution Rank1
Funding OrganizationNational Key R&D Program of China (Grant No. 2016YFE0206200) ; National Natural Science of China (Grant Nos. 61821005, 61703395, and 61727811) ; Sichuan Science and Technology Program (Grant No. 20SYSX0276) ; Natural Science Foundation of Liaoning Province of China (Grant No. 20180520035) ; Youth Innovation Promotion Association of the Chinese Academy of Sciences (Grant No. 2019205)
Keywordstroke rehabilitation simplified muscle model soft wrist exoskeleton robot bionic kinematics model

Exoskeleton robots have demonstrated the potential to rehabilitate stroke dyskinesia. Unfortunately, poor human-machine physiological coupling causes unexpected damage to human of muscles and joints. Moreover, inferior humanoid kinematics control would restrict human natural kinematics. Failing to deal with these problems results in bottlenecks and hinders its application. In this paper, the simplified muscle model and muscle-liked kinematics model were proposed, based on which a soft wrist exoskeleton was established to realize natural human interaction. Firstly, we simplified the redundant muscular system related to the wrist joint from ten muscles to four, so as to realize the human-robot physiological coupling. Then, according to the above human-like musculoskeletal model, the humanoid distributed kinematics control was established to achieve the two DOFs coupling kinematics of the wrist. The results show that the wearer of an exoskeleton could reduce muscle activation and joint force by 43.3% and 35.6%, respectively. Additionally, the humanoid motion trajectories similarity of the robot reached 91.5%. Stroke patients could recover 90.3% of natural motion ability to satisfy for most daily activities. This work provides a fundamental understanding on human-machine physiological coupling and humanoid kinematics control of the exoskeleton robots for reducing the post-stroke complications.

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Document Type期刊论文
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 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
4.Rehabilitation Center for the Disabled, Shenyang 110015, China
5.Vision and Robotics Lab, Department of Electrical and Computer Engineering, American University of Beirut, Beirut 1107 2020, Lebanon
6.Emerging Technologies Institute, Department of Industrial & Manufacturing Systems Engineering, University of Hong Kong, Pokfulam 999077, Hong Kong
Recommended Citation
GB/T 7714
Li N,Yang T,Yang Y,et al. Bioinspired Musculoskeletal Model-based Soft Wrist Exoskeleton for Stroke Rehabilitation[J]. Journal of Bionic Engineering,2020,17:1-12.
APA Li N.,Yang T.,Yang Y.,Yu P.,Xue, Xiujuan.,...&Liu LQ.(2020).Bioinspired Musculoskeletal Model-based Soft Wrist Exoskeleton for Stroke Rehabilitation.Journal of Bionic Engineering,17,1-12.
MLA Li N,et al."Bioinspired Musculoskeletal Model-based Soft Wrist Exoskeleton for Stroke Rehabilitation".Journal of Bionic Engineering 17(2020):1-12.
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