طراحی دستگاه توانبخشی آرنج بر پایه محرک کابل

نویسندگان

دانشگاه شاهرود

چکیده

در این مقاله یک مکانیزم محرک کابلی در قالب راهکاری نوین با عملکرد توانبخشی معرفی می‌شود. نیاز به سیستم توانبخشی که منطبق با مشخصه‌های فیزیکی انسان باشد، موجب پیدایش طرح‌های جدید در این حوزه شده است. توجه به میزان نرمی مفاصل در طول بازه حرکتی می‌تواند در ایجاد احساس بهتر برای بیمار و موفقیت برنامه توانبخشی بسیار موثر باشد. مزایای مکانیزم ارزان و سبک پیشنهادی ایجاد حرکت هموار برای مفصل با سختی قابل تنظیم، جبران اثرات گرانش، انتقال گشتاور به مفصل از محل دیگر، کاهش ابعاد موتورهای محرک و در موارد توسعه یافته، توانایی کنترل همزمان چند مفصل و انتقال قدرت به میله‌های متصل به آن‌ها تنها با استفاده از یک منبع قدرت است. در این مقاله کارایی دستگاه توانبخشی آرنج از نظر تولید گشتاور و سختی مفصلی بررسی شده که تطابق موثر و مطلوبی با میزان سختی مفصل آرنج داشته است. مکانیزم حاضر به علت شبیه‌سازی رفتار دست انسان می‌تواند کاربردهای گسترده‌تری در حوزه رباتیک و پزشکی داشته باشد.

کلیدواژه‌ها


عنوان مقاله [English]

Design of elbow rehabilitation device based on cable-actuated mechanism

نویسندگان [English]

  • mahdi bamdad
  • homayoon zarshenas
shahrood university
چکیده [English]

In this paper, a cable actuated mechanism is introduced as a new rehabilitation method. Having the need for a rehabilitation system consistent with the physical characteristics has led to certain new projects. Considering joint compliance during the motion can make the patient feel better and thus, bring success for the rehabilitation program. The advantages of the proposed low-cost and light weight mechanism are having a smooth joint motion with a stiffness which is adjustable, compensate gravity effects, remote actuation for delivering torque to a joint, motor size reduction and in the developed versions, ability to control multiple joints movements and deliver force to links with one source of power. In this paper, the joints torque and stiffness is investigated in the performance of the elbow rehabilitation device. This is effectively compatible with the elbow joint stiffness. Being similar to the behavior of human arm, the mechanism can be used more widely in the field of medical robotics.

کلیدواژه‌ها [English]

  • Mechanism design
  • elbow rehabilitation
  • cable actuated mechanism
  • joint stiffness
  • gravity compensator

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