Background
Methods
Required specifications of the wrist training device
Human body | Developed device | |
---|---|---|
Palmar/dorsi flexion (°) | − 70 to 90 | − 50 to 60 |
Radial/ulnar deviation action (°) | − 50 to 25 | − 45 to 45 |
Pronation and supination movements (°) | − 90 to 90 | − 45 to 45 |
Proposed method
Overview of the parallel link-type training device
Structure of the developed integrated training system
Installation weight | 1.5 kg |
Maximum stroke speed | 100 mm/s |
Minimum resolution | 0.01 mm |
Actuator maximum acceleration | 82.9 m/s2 |
Rated thrust (total value) | 21.6 N |
Standard deviation at training (angle) | 0.41° |
Standard deviation at training (position) | 0.22 mm |
Calculation of the position and posture of the wrist
Rehabilitation scenario experiment
Purpose of the experiment
Subjects
Experimental procedure
Results and discussion
Results of the experiment
Discussion of the experiment
θ
roll
|
θ
pitch
|
θ
yaw
|
X
|
Y
|
Z
| |
---|---|---|---|---|---|---|
A
| 0.96 | 0.99 | 0.99 | 0.99 | 0.99 | 0.96 |
B
| 0.94 | 1.00 | 0.97 | 0.98 | 0.99 | 0.94 |
C
| 0.96 | 0.99 | 0.99 | 0.99 | 0.99 | 0.82 |
D
| 0.93 | 0.94 | 0.96 | 0.96 | 0.94 | 0.94 |
E
| 0.98 | 0.98 | 0.99 | 0.98 | 0.99 | 0.94 |
F
| 0.91 | 0.94 | 0.96 | 0.96 | 0.96 | 0.74 |
θ
roll
(°) | θ
pitch
(°) | θ
yaw
(°) | X (mm) | Y (mm) | Z (mm) | |
---|---|---|---|---|---|---|
A
| − 0.1 | − 0.1 | − 0.8 | 6.0 | − 1.3 | − 0.4 |
B
| 1.8 | 3.2 | 4.9 | − 1.0 | 3.2 | 3.1 |
C
| 2.9 | 3.6 | 6.5 | 4.5 | 1.0 | 1.4 |
D
| 1.4 | 1.8 | 1.8 | − 1.5 | 3.0 | − 2.3 |
E
| 4.6 | 0.9 | 2.2 | − 2.2 | 8.2 | 2.1 |
F
| 4.8 | 1.4 | 6.5 | − 0.7 | − 1.6 | − 0.5 |