Bionic Design of a Novel Portable Hand-Elbow Coordinate Exoskeleton for Activities of Daily Living
This paper presents the mechanical design and test of a portable hand-elbow combination linkage upper limb rehabilitation robot, which can realize the joint movement of the hand joint and elbow joint and reproduce the complete grasping action. The joints that need bionic support are determined accor...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-08-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/12/15/3326 |
| _version_ | 1797586867666812928 |
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| author | Qingyun Meng Guanxin Liu Qiaoling Meng Xin Xu Liang Qin Hongliu Yu |
| author_facet | Qingyun Meng Guanxin Liu Qiaoling Meng Xin Xu Liang Qin Hongliu Yu |
| author_sort | Qingyun Meng |
| collection | DOAJ |
| description | This paper presents the mechanical design and test of a portable hand-elbow combination linkage upper limb rehabilitation robot, which can realize the joint movement of the hand joint and elbow joint and reproduce the complete grasping action. The joints that need bionic support are determined according to the characteristics of human upper limbs and hands, and the overall bionic mechanism is designed. The Motion module in SolidWorks is used to simulate and analyze the rehabilitation robot. The measurement experiment and grasping experiment of joint mobility are carried out on the experimental prototype. As a result, the angular displacement and linear displacement curves obtained via the simulation results are smooth. The measurement experiment of the joint range of motion confirms that the joint range of motion is also within the range of the normal joint angle of the human body, and the grasping experiment shows that the exoskeleton can grasp and lift a 1.801-kg cylindrical object and other daily necessities of different shapes. This result shows that the design of the portable hand-elbow combination linkage upper limb rehabilitation robot is reasonable, can satisfy the rehabilitation training requirements of the hand and upper limb, and has some ability to assist users in daily life. |
| first_indexed | 2024-03-11T00:28:14Z |
| format | Article |
| id | doaj.art-3de9fa3dd31540beb242689343dd3dc2 |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-11T00:28:14Z |
| publishDate | 2023-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-3de9fa3dd31540beb242689343dd3dc22023-11-18T22:49:28ZengMDPI AGElectronics2079-92922023-08-011215332610.3390/electronics12153326Bionic Design of a Novel Portable Hand-Elbow Coordinate Exoskeleton for Activities of Daily LivingQingyun Meng0Guanxin Liu1Qiaoling Meng2Xin Xu3Liang Qin4Hongliu Yu5College of Medical Instruments, Shanghai University of Medicine and Health Sciences, Shanghai 201318, ChinaCollege of Medical Instruments, Shanghai University of Medicine and Health Sciences, Shanghai 201318, ChinaInstitute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, ChinaInstitute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, ChinaCollege of Medical Instruments, Shanghai University of Medicine and Health Sciences, Shanghai 201318, ChinaInstitute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, ChinaThis paper presents the mechanical design and test of a portable hand-elbow combination linkage upper limb rehabilitation robot, which can realize the joint movement of the hand joint and elbow joint and reproduce the complete grasping action. The joints that need bionic support are determined according to the characteristics of human upper limbs and hands, and the overall bionic mechanism is designed. The Motion module in SolidWorks is used to simulate and analyze the rehabilitation robot. The measurement experiment and grasping experiment of joint mobility are carried out on the experimental prototype. As a result, the angular displacement and linear displacement curves obtained via the simulation results are smooth. The measurement experiment of the joint range of motion confirms that the joint range of motion is also within the range of the normal joint angle of the human body, and the grasping experiment shows that the exoskeleton can grasp and lift a 1.801-kg cylindrical object and other daily necessities of different shapes. This result shows that the design of the portable hand-elbow combination linkage upper limb rehabilitation robot is reasonable, can satisfy the rehabilitation training requirements of the hand and upper limb, and has some ability to assist users in daily life.https://www.mdpi.com/2079-9292/12/15/3326portabilityexoskeletonhand-elbow combination linkagerehabilitationjoint range of motion |
| spellingShingle | Qingyun Meng Guanxin Liu Qiaoling Meng Xin Xu Liang Qin Hongliu Yu Bionic Design of a Novel Portable Hand-Elbow Coordinate Exoskeleton for Activities of Daily Living Electronics portability exoskeleton hand-elbow combination linkage rehabilitation joint range of motion |
| title | Bionic Design of a Novel Portable Hand-Elbow Coordinate Exoskeleton for Activities of Daily Living |
| title_full | Bionic Design of a Novel Portable Hand-Elbow Coordinate Exoskeleton for Activities of Daily Living |
| title_fullStr | Bionic Design of a Novel Portable Hand-Elbow Coordinate Exoskeleton for Activities of Daily Living |
| title_full_unstemmed | Bionic Design of a Novel Portable Hand-Elbow Coordinate Exoskeleton for Activities of Daily Living |
| title_short | Bionic Design of a Novel Portable Hand-Elbow Coordinate Exoskeleton for Activities of Daily Living |
| title_sort | bionic design of a novel portable hand elbow coordinate exoskeleton for activities of daily living |
| topic | portability exoskeleton hand-elbow combination linkage rehabilitation joint range of motion |
| url | https://www.mdpi.com/2079-9292/12/15/3326 |
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