测量人体手臂粘弹性的机电手柄设计准则

I. Sardellitti, L. Zollo, D. Accoto, S. Silvestri, E. Guglielmelli
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摘要

人体手臂粘弹性特性的实验研究在神经科学、机器人和上肢神经康复等领域具有重要意义。在神经科学中,它允许研究中枢神经系统在实施低水平运动控制策略时使用的机制;在机器人技术中,它可以从生物行为中汲取灵感,为人机交互控制策略的制定提供有用的信息;在神经康复中,它可能是定量评估运动治疗期间运动功能恢复的有用工具。很少有机电仪器允许直接测量人体手臂的粘弹性。它们都不打算成为便携式和独立的设备,也不打算与现有的机器人作为末端执行器进行适当的接口。本文设计了一种新型的机电手柄,用于测量人体手臂的粘弹性。设计规范还考虑到将设备适应现有机器人进行康复运动治疗的可能性。特别是,对现有文献的调查,包括机器人和神经科学,以及数值模拟,导致了对这些设备最有用的技术规范的选择。并对手柄的初步设计进行了讨论。
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Design criteria for a mechatronic handle for measuring visco-elastic properties of the human arm
The experimental investigation of the visco-elastic properties of the human arm has important implications in neuroscience, robotics and neuro-rehabilitation of the upper limb. In neuroscience it allows studying the mechanisms used by the central nervous system in implementing low-level strategies for motion control; in robotics it can provide useful information for the formulation of control strategies for human-robot interaction, by taking inspiration from the biological behavior; in neuro-rehabilitation it may be a useful tool for quantitatively assessing the recovery of motor functions during motor therapy. Few mechatronic instruments exist allowing the direct measurement of visco-elastic properties of the human arm. None of them are intended to be portable and stand-alone devices, and also to be properly interfaced with existing robots as end effectors. This paper is concerned with the design of a novel mechatronic handle intended to be a portable device for the measurement of human arm visco-elastic properties. The design specifications take into account also the possibility of adapting the device to existing robots for rehabilitation motor therapy. In particular, the investigation of existing literature, both in robotics and in neuroscience, together with numerical simulations, led to the selection of the most useful technical specifications for such devices. A preliminary design of the handle is also presented and discussed.
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