All-Fabric Bi-directional Actuators for Multi-joint Assistance of Upper Limb  

作　　者：Junlin Ma Diansheng Chen Zhe Liu Jie Wei Xianglin Zhang Zihan Zeng Yongkang Jiang 

机构地区：[1]Institute of Robotics,Beihang University,Beijing,100191,China [2]Department of Control Science and Engineering,Tongji University,Shanghai,201804,China [3]Frontiers Science Center for Intelligent Autonomous Systems,Shanghai,201210,China

出　　处：《Journal of Bionic Engineering》2023年第6期2661-2669,共9页仿生工程学报（英文版）

基　　金：The research is supported by the National Natural Science Foundation of China(52275002);the Open Laboratory Concept Verification Project of Zhongguancun National Demonstration Zone(Grant No.202005226).

摘　　要：According to clinical studies,upper limb robotic suits are vital to reduce therapist fatigue and accelerate patient rehabilitation.Soft pneumatic actuators have drawn increasing attention for the development of wearable robots due to their low weight,flexibility,and high power-to-weight ratio.However,most of current actuators were designed for the flexion assistance of a specific joint,and that for joint extension requires further investigation.Furthermore,designing an actuator for diverse working scenarios remains a challenge.In this paper,we propose an all-fabric bi-directional actuator to assist the flexion and extension of the elbow,wrist,and fingers.A mathematical model is presented that predicts the deformation and guides the design of the proposed bi-directional actuator.To further validate the applicability and adaptability of the proposed actuator for different joints,we developed a 3-DOF soft robotic suit.Preliminary results show that the robotic suit can assist the motion of the elbow,wrist,and finger of the subject.

关 键 词：Soft robotic suits Fabric-based actuators Multi-DOF motion Upper limb rehabilitation 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]