Ruilin Hou,∗ Yindi Wang,∗ Xiaotong Zhang,∗ Xue Qin,∗ and Yangwei Wang∗
Shape memory alloy (SMA), pronation and supination, passive suppression of tremor, bionic exoskeleton robot, motion capture
Aiming at the problems of exoskeleton robot in imitation, portability and human–machine interaction, this paper designed a wearable flexible forearm exoskeleton device based on shape memory alloy (SMA) as a driver on the basis of analysing the pronation and supination mechanism of the ulna and radius of the human forearm, aiming at effectively restraining the onset behaviour of patients with static tremors. First, we obtained biological inspiration from the medical anatomy of the forearm, and used 3D software to design an exoskeleton structure that conforms to human biomechanics. Secondly, the contractile force generated by the SMA spring in the heating state is used to drive the exoskeleton device to achieve passive suppression of static tremor during pronation and supination. Finally, the Vicon motion capture system was used to measure the motion data of the prosthetic prototype before and after suppressing the tremor to verify the effectiveness of the device. The results show that when the SMA spring is stretched to 100 mm and 120 mm, the vibration angle, angular velocity and average angular acceleration of the prototype are significantly reduced, which confirms the feasibility of the device. The imitation and flexibility of the exoskeleton accord with the movement characteristics of the forearm, which can improve the auxiliary training effect of the affected limb in daily life, and provide a new perspective and method for the rehabilitation of the upper limb.
Important Links:
Go Back
