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An underactuated wearable arm-swing rehabilitator for gait training

机译:动作不足的可穿戴手臂摆动式康复器,用于步态训练

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This paper presents the design concept and fabricated prototype of a device that swings the arms for use in gait rehabilitation. The device is designed to be used in conjunction with a body-weight-support treadmill. The device is backdrivable, wearable, capable of assisting the user's arm swing in the sagittal plane, and has unhindered kinematics in the remaining unactuated degrees of freedom. Tests are performed to validate the shoulder-angle prediction equations based on the non-collocated motor-angle sensor measurements, to validate the device's ability to provide adequate torque to induce arm-swing in a passive user, and to investigate whether or not the user's active involvement can be determined by examining sensor data. The results show that the device does provide sufficient torque to move the arms with a factor of safety, but that the model-based shoulder-angle estimates obtained from the motor measurements have non-negligible error with the current prototype. It is shown that the controlled device generates low RMS tracking error and is able to diagnose user-assistance level (i.e., if the user is passive or actively assisting arm swing) online by observing shoulder-angle amplitudes and peak motor torques.
机译:本文介绍了一种用于步态康复的可摆动手臂的装置的设计概念和制造的原型。该设备设计为与体重支持跑步机一起使用。该设备是可逆驱动的,可穿戴的,能够协助用户在矢状平面内的手臂摆动,并且在其余未激活的自由度中具有不受阻碍的运动学特性。进行测试以基于非并置的电机角度传感器测量结果来验证肩角预测方程,以验证设备提供足够扭矩以在被动用户中引起手臂摆动的能力,并调查用户是否主动参与可以通过检查传感器数据来确定。结果表明,该装置确实提供了足够的扭矩来安全地移动手臂,但是从电机测量获得的基于模型的肩角估计值与当前原型的误差不可忽略。结果表明,受控设备通过观察肩角幅度和峰值电机扭矩,可以在线上较低的RMS跟踪误差,并且能够在线诊断用户的辅助水平(即,用户是被动还是主动辅助手臂摆动)。

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