A methodology to quantify human-robot interaction forces: a case study of a 4-DOFs upper extremity rehabilitation robot

被引:0
作者
Cao, Qiang [1 ]
Li, Lei [2 ]
Li, Jianfeng [3 ]
Li, Rui [1 ]
Wang, Xun [1 ]
机构
[1] Shanghai DianJi Univ, Kaiserslautern Acad Smart Mfg, Shanghai 201306, Peoples R China
[2] Shanghai DianJi Univ, Coll Machine, Shanghai 201306, Peoples R China
[3] Beijing Univ Technol, Coll Mech Engn & Appl Elect Technol, Beijing 100124, Peoples R China
基金
国家重点研发计划; 北京市自然科学基金;
关键词
upper extremity; rehabilitation robot; kinematic compatibility; Newton-Euler dynamic; interaction forces; POSITION SOLUTION; EXOSKELETON; SHOULDER; MOTION; MECHANISM; DRIVEN; DESIGN;
D O I
10.1017/S0263574725000335
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
Upper extremity rehabilitation robots have become crucial in stroke rehabilitation due to their high durability, repeatability, and task-specific capabilities. A significant challenge in assessing the comfort performance of these robots is accurately calculating the human-robot interaction forces. In this study, a four-degree-of-freedom (4-DOF) upper extremity rehabilitation robot mechanism, kinematically compatible with the human upper limb, is proposed. Based on this mechanism, an algorithm for estimating human-robot interaction forces is developed using Newton-Euler dynamics. A prototype of the proposed robot is constructed, and a series of comparative experiments are carried out to validate the feasibility of the proposed force estimation approach. The results indicate that the proposed method reliably predicts interaction forces with minimal deviation from experimental data, demonstrating its potential for application in upper limb rehabilitation robots. This work provides a foundation for future studies focused on comfort evaluation and optimization of rehabilitation robots, with significant practical implications for improving patient rehabilitation outcomes.
引用
收藏
页数:22
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