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Design and testing of a soft parallel robot based on pneumatic artificial muscles for wrist rehabilitation
Wang,Yaxi1; Xu,Qingsong1,2
2021-12-01
Source PublicationScientific Reports
Volume11Issue:1
AbstractWrist rehabilitation is needed to help post-stroke and post-surgery patients recover from wrist fracture or injury. Traditional rehabilitation training is conducted by a therapist in a hospital, which hinders timely treatment due to the corresponding time and space constraints. This paper presents the design and implementation of a soft parallel robot for automated wrist rehabilitation. The presented wrist rehabilitation robot integrates the advantages of both soft robot and parallel robot structures. Unlike traditional rigid-body based rehabilitation robots, this soft parallel robot exhibits a compact structure, which is highly secure, adaptable, and flexible and thus a low-cost solution for personalized treatment. The proposed soft wrist-rehabilitation robot is driven by six evenly distributed linear actuators using pneumatic artificial muscles and one central linear electric motor. The introduced parallel-kinematic mechanism design enables the enhancement of the output stiffness of the soft robot for practical use. An electromyography sensor is adopted to provide feedback signals for evaluating the rehabilitation training process. A kinematic model of the designed robot is derived, and a prototype is fabricated for experimental testing. The results demonstrate that the developed soft rehabilitation robot can assist the wrist to realize all the required training motions, including abduction-adduction, flexion-extension, and supination-pronation. The compact and lightweight structure of this novel robot makes it convenient to use, and suitable rehabilitation training modes can be chosen for tailored rehabilitation at home or in a hospital.
DOI10.1038/s41598-020-80411-0
URLView the original
Language英语
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Document TypeJournal article
CollectionUniversity of Macau
Corresponding AuthorXu,Qingsong
Affiliation1.Department of Electromechanical Engineering,Faculty of Science and Technology,University of Macau,Taipa,Macao
2.Zhuhai UM Science & Technology Research Institute,Zhuhai,China
First Author AffilicationFaculty of Science and Technology
Corresponding Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
Wang,Yaxi,Xu,Qingsong. Design and testing of a soft parallel robot based on pneumatic artificial muscles for wrist rehabilitation[J]. Scientific Reports,2021,11(1).
APA Wang,Yaxi,&Xu,Qingsong.(2021).Design and testing of a soft parallel robot based on pneumatic artificial muscles for wrist rehabilitation.Scientific Reports,11(1).
MLA Wang,Yaxi,et al."Design and testing of a soft parallel robot based on pneumatic artificial muscles for wrist rehabilitation".Scientific Reports 11.1(2021).
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