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Article: Bioinspired Musculoskeletal Model-based Soft Wrist Exoskeleton for Stroke Rehabilitation

TitleBioinspired Musculoskeletal Model-based Soft Wrist Exoskeleton for Stroke Rehabilitation
Authors
KeywordsStroke rehabilitation
Simplified muscle model
Soft wrist exoskeleton robot
Bionic kinematics model
Issue Date2020
PublisherSpringer, co-published with China Science Publishing & Media Ltd. and Jilin University. The Journal's web site is located at https://www.springer.com/journal/42235
Citation
Journal of Bionic Engineering, 2020, v. 17 n. 6, p. 1163-1174 How to Cite?
AbstractExoskeleton robots have demonstrated the potential to rehabilitate stroke dyskinesia. Unfortunately, poor human-machine physiological coupling causes unexpected damage to human of muscles and joints. Moreover, inferior humanoid kinematics control would restrict human natural kinematics. Failing to deal with these problems results in bottlenecks and hinders its application. In this paper, the simplified muscle model and muscle-liked kinematics model were proposed, based on which a soft wrist exoskeleton was established to realize natural human interaction. Firstly, we simplified the redundant muscular system related to the wrist joint from ten muscles to four, so as to realize the human-robot physiological coupling. Then, according to the above human-like musculoskeletal model, the humanoid distributed kinematics control was established to achieve the two DOFs coupling kinematics of the wrist. The results show that the wearer of an exoskeleton could reduce muscle activation and joint force by 43.3% and 35.6%, respectively. Additionally, the humanoid motion trajectories similarity of the robot reached 91.5%. Stroke patients could recover 90.3% of natural motion ability to satisfy for most daily activities. This work provides a fundamental understanding on human-machine physiological coupling and humanoid kinematics control of the exoskeleton robots for reducing the post-stroke complications.
Persistent Identifierhttp://hdl.handle.net/10722/309327
ISSN
2023 Impact Factor: 4.9
2023 SCImago Journal Rankings: 0.731
ISI Accession Number ID

 

DC FieldValueLanguage
dc.contributor.authorLi, N-
dc.contributor.authorYang, T-
dc.contributor.authorYang, Y-
dc.contributor.authorYu, P-
dc.contributor.authorXue, X-
dc.contributor.authorZhao, X-
dc.contributor.authorSong, G-
dc.contributor.authorElhajj, IH-
dc.contributor.authorWang, W-
dc.contributor.authorXi, N-
dc.contributor.authorLiu, L-
dc.date.accessioned2021-12-29T02:13:31Z-
dc.date.available2021-12-29T02:13:31Z-
dc.date.issued2020-
dc.identifier.citationJournal of Bionic Engineering, 2020, v. 17 n. 6, p. 1163-1174-
dc.identifier.issn1672-6529-
dc.identifier.urihttp://hdl.handle.net/10722/309327-
dc.description.abstractExoskeleton robots have demonstrated the potential to rehabilitate stroke dyskinesia. Unfortunately, poor human-machine physiological coupling causes unexpected damage to human of muscles and joints. Moreover, inferior humanoid kinematics control would restrict human natural kinematics. Failing to deal with these problems results in bottlenecks and hinders its application. In this paper, the simplified muscle model and muscle-liked kinematics model were proposed, based on which a soft wrist exoskeleton was established to realize natural human interaction. Firstly, we simplified the redundant muscular system related to the wrist joint from ten muscles to four, so as to realize the human-robot physiological coupling. Then, according to the above human-like musculoskeletal model, the humanoid distributed kinematics control was established to achieve the two DOFs coupling kinematics of the wrist. The results show that the wearer of an exoskeleton could reduce muscle activation and joint force by 43.3% and 35.6%, respectively. Additionally, the humanoid motion trajectories similarity of the robot reached 91.5%. Stroke patients could recover 90.3% of natural motion ability to satisfy for most daily activities. This work provides a fundamental understanding on human-machine physiological coupling and humanoid kinematics control of the exoskeleton robots for reducing the post-stroke complications.-
dc.languageeng-
dc.publisherSpringer, co-published with China Science Publishing & Media Ltd. and Jilin University. The Journal's web site is located at https://www.springer.com/journal/42235-
dc.relation.ispartofJournal of Bionic Engineering-
dc.rightsThis work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.-
dc.subjectStroke rehabilitation-
dc.subjectSimplified muscle model-
dc.subjectSoft wrist exoskeleton robot-
dc.subjectBionic kinematics model-
dc.titleBioinspired Musculoskeletal Model-based Soft Wrist Exoskeleton for Stroke Rehabilitation-
dc.typeArticle-
dc.identifier.emailXi, N: xining@hku.hk-
dc.identifier.authorityXi, N=rp02044-
dc.description.naturepublished_or_final_version-
dc.identifier.doi10.1007/s42235-020-0101-9-
dc.identifier.scopuseid_2-s2.0-85093924686-
dc.identifier.hkuros331222-
dc.identifier.volume17-
dc.identifier.issue6-
dc.identifier.spage1163-
dc.identifier.epage1174-
dc.identifier.isiWOS:000584044000002-
dc.publisher.placeChina-

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