Development of a Wearable Upper Limb Rehabilitation Robot Based on Reinforced Soft Pneumatic Actuators

作     者：Xinbo Chen Shuai Zhang Kaibin Cao Chunjie Wei Wumian Zhao Jiantao Yao Xinbo Chen;Shuai Zhang;Kaibin Cao;Chunjie Wei;Wumian Zhao;Jiantao Yao

作者机构：Parallel Robot and Mechatronic System Laboratory of Hebei ProvinceYanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National EducationYanshan UniversityQinhuangdao 066004China 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2022年第35卷第4期

页      面：182-190页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：Supported by National Natural Science Foundation of China(Grant Nos.51975505 and U2037202) Science and Technology Project of Hebei Education Department(Grant No.SLRC2019039) Postgraduate Innovation Ability Cultivation Funded Project of Hebei Province(Grant No.CXZZBS2021135) Open Project of Hebei Industrial Manipulator Control and reliability Technology Innovation Center,Hebei University of Water Resources and Electric Engineering(Grant No.JXKF2102) 

主　　题：Upper limb rehabilitation Reinforced soft pneumatic actuator Wearable rehabilitation robot Motion analysis 

摘      要：Dyskinesia of the upper limbs caused by stroke,sports injury,or trafc accidents limits the ability to perform the activities of daily *** the necessary medical treatment,correct and scientifc rehabilitation training for the injured joint is an important auxiliary means during the treatment of the efected upper *** upperlimb rehabilitation robots have some disadvantages,such as a complex structure,poor compliance,high cost,and poor *** this study,a novel soft wearable upper limb rehabilitation robot(SWULRR)with reinforced soft pneumatic actuators(RSPAs)that can withstand high pressure and featuring excellent loading characteristics was *** by RSPAs,this portable SWULRR can perform rehabilitation training of the wrist and elbow *** this study,the kinematics of an SWULRR were analyzed,and the force and motion characteristics of RSPA were studied *** results provide a reference for the development and application of wearable upper limb rehabilitation *** experimental study on the rotation angle of the wrist and the pressure of the RSPA was conducted to test the efect of the rehabilitation training and verify the rationality of the theoretical *** process of wrist rehabilitation training was tested and evaluated,indicating that SWULRR with RSPAs will enhance the fexibility,comfort,and safety of rehabilitation *** work is expected to promote the development of wearable upper-limb rehabilitation robots based on modular reinforced soft pneumatic actuators.