Mechanical and hardware architecture of the semi-exoskeleton arm rehabilitation robot

• Autorzy: Gmerek A.

Warianty tytułu

PL

Projekt mechaniczny i architektura systemu sterowania semi-egzoszkieletalnego robota przeznaczonego do rehabilitacji kończyny górnej

• Języki publikacji: EN

Abstrakty

EN

This paper deals with mechanical and hardware design of a robot, used for the rehabilitation of upper extremities. It has been called ARR-1 (Arm Rehabilitation Robot). The robot has a semi-exoskeleton structure. This means that some parts of the robot fit closely to the human arm (an orthosis), but the weight of the construction does not load patient’s body. The device is used for the whole arm rehabilitation, but active joints are only situated in glenohumeral and elbow joints. The robot is electrically actuated.

PL

Artykuł opisuje mechanikę oraz część sprzętową systemu sterowania robota przeznaczonego do rehabilitacji kończyny górnej. Robot został nazwany Arm Rehabilitation Robot - ARR i charakteryzuje się strukturą semi-egzoszkieletalną. Oznacza to, że część aktywna przylega do ciała pacjenta, a jego struktura kinematyczna przypomina kończynę górną, ale waga robota nie obciąża pacjenta. Urządzenie może być używane do rehabilitacji całej kończyny górnej, ale aktywne stopnie swobody znajdują się w stawach barkowo-obojczykowym oraz łokciowym. Robot jest napędzany silnikami elektrycznymi.

Słowa kluczowe

EN

robot; arm rehabilitation; EMG; exoskeleton; upper-extremity rehabilitation; upper limb rehabilitation

PL

robot; ARR; egzoszkielet; rehabilitacja kończyny górnej

• Wydawca: Komitet Budowy Maszyn PAN
• Czasopismo: Archive of Mechanical Engineering
• Rocznik: 2013
• Tom: Vol. LX, nr 4
• Strony: 557--574
• Opis fizyczny: Bibliogr. 27 poz., rys., tab.

Twórcy

autor

Gmerek A.

• Lodz University of Technology, Institute of Automatic Control, 90-924 Lodz, Poland

Bibliografia

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