(e-book) Rehabilitation Robotics (by Sashi S _部分12(19)

康复机器人相关的论文,拆分成了13份文档,都很不错的。

Synthesis of Prosthesis Architectures and Design of Prosthetic Devices for Upper Limb Amputees 559

2. The DOPA procedure

The procedure receives a given patient’s information as input and provides his/her corresponding optimal prosthesis model as output (Fig. 1). It is based on a database and a number of algorithms which make it possible to choose the optimal robot arm architecture able to fit patient’s specific needs and limitations. On one hand the database (database DB-T) collects upper limb activities of daily living and the corresponding trajectories which model them – hereinafter “Reference Trajectories”, normally requiring six DoF for positioning and orienting tasks – and on the other hand (database DB-R) several kinematic models of upper limb prostheses with one up to six active revolute joints differently arranged and possible revolute or spherical passive joints (Fig. 3). The procedure can be considered as a process of three sequential steps, running automatically once that the appropriate amputee data have been entered.

Abbreviation

M eaning

T-labels Markers of motor tasks

P-labels Markers of the patient profile

DB-T Upper Limb Activities Database

TaS Task Selection Algorithm

DB-PT Upper Limb Activities selected for the patient

Char Characterization Algorithm

DB-R Robotic Models Database

KiS Kinematic Simulation Algorithm

DB-RT1 Robotic models kinematic performance

Promotion Filter Model kinematic performance evaluation

DB-RT2 Promoted models kinematic performance

KiA Kinetostatic Analysis

DB-RT3 Promoted models dynamic performance

C Complexity Index

KP Kinematic performance Index

FL Flexibility Index

I Overall Index Fig. 1. The DOPA procedure schematic layout.