Design of a traction neck brace with two degrees-of-freedom via a novel architecture of a spatial parallel mechanism

IF 1.9 4区 计算机科学 Q3 ROBOTICS Robotica Pub Date : 2024-09-18 DOI:10.1017/s0263574724000882
Jingzong Zhou, Priya Kulkarni, Xincheng Zhao, Sunil K. Agrawal
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Abstract

Traction of the head-neck is important in the treatment of patients suffering from neck pain due to degeneration of the intervertebral discs. Conventional neck traction is provided manually by experienced physical therapists who maintain a desired orientation of the head-neck relative to the trunk while applying the traction. It is postulated that innovative designs of neck exoskeletons can provide the same function both flexibly and accurately. This article presents a novel architecture of a parallel mechanism whose base sits on the human shoulders with 4 parallel chains, each chain having a revolute-revolute-universal-revolute (RRUR) structure, while the end-effector is connected rigidly to the human head. Each chain has five degrees-of-freedom (DOF) and applies a constraint on the motion of the end-effector. As a result, this parallel mechanism allows two DOFs to the end-effector. These are (i) forward flexion or lateral bending of the head and (ii) vertical translation. An important motivation for the current design with RRUR structure is to characterize the range of forward flexion/lateral bending of the head-neck with this structure and the vertical translation to the end-effector. A physical prototype was constructed and tested to evaluate the performance of this mechanism in hardware for the proposed application.
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通过空间并联机构的新结构设计具有两个自由度的牵引颈托
头颈部牵引对于治疗因椎间盘退化而导致的颈部疼痛患者非常重要。传统的颈部牵引是由经验丰富的理疗师手动进行的,他们在牵引时会保持头颈部相对于躯干的理想方向。据推测,创新设计的颈部外骨骼可以灵活而准确地提供相同的功能。本文介绍了一种新颖的并联机构结构,该机构的基座位于人体肩部,有 4 条并联链,每条链都具有旋转-通用-旋转(RRUR)结构,而末端执行器则与人体头部刚性连接。每条链都有五个自由度(DOF),并对末端执行器的运动施加约束。因此,这种平行机构允许末端执行器有两个自由度。这两个自由度分别是:(i) 头部前屈或侧弯;(ii) 垂直平移。目前采用 RRUR 结构设计的一个重要动机是确定采用这种结构的头颈部前屈/侧弯范围以及到末端执行器的垂直平移。我们制作并测试了一个物理原型,以评估该机构在拟议应用中的硬件性能。
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来源期刊
Robotica
Robotica 工程技术-机器人学
CiteScore
4.50
自引率
22.20%
发文量
181
审稿时长
9.9 months
期刊介绍: Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.
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