ARMin II - 7 DoF rehabilitation robot: mechanics and kinematics

被引：142

作者：

Mihelj, Matjaz ^{[1
]}

Nef, Tobias ^{[2
]}

Riener, Robert ^{[2
]}

机构：

[1] Univ Ljubljana, Fac Elect Engn, Trzaska C 25, SI-1000 Ljubljana, Slovenia

[2] ETH, Univ Zurich, Sensory Motor Syst Lab, CH-8092 Zurich, Switzerland

来源：

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年

关键词：

rehabilitation robotics; upper extremities; kinematics;

D O I：

10.1109/ROBOT.2007.364112

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Task-oriented repetitive movements can improve motor recovery in patients with neurological or orthopaedic lesions. The application of robotics can serve to assist, enhance, evaluate, and document neurological and orthopaedic rehabilitation. ARMin H is the second prototype of a robot for arm therapy applicable to the training of activities of daffy living. ARMin H has a semi-exoskeletal structure with seven active degrees of freedom (two of them coupled), five adjustable segments to fit in with different patient sizes, and is equipped with position and force sensors. The mechanical structure, the actuators and the sensors of the robot are optimized for patient-cooperative control strategies based on impedance and admittance architectures. This paper describes the mechanical structure and kinematics of ARMin H.

引用

页码：4120 / +

页数：2

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