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Title
Japanese: 
English:Kineto-static Analysis of a Compact Wrist Rehabilitation Robot Including the Effect of Human Soft Tissue to Compensate for Joint Misalignment 
Author
Japanese: LIU Ying-Chi, 武田 行生.  
English: Ying-Chi Liu, Yukio Takeda.  
Language English 
Journal/Book name
Japanese: 
English:In: Venture G., Solis J., Takeda Y., Konno A. (eds) ROMANSY 23 - Robot Design, Dynamics and Control. ROMANSY 2020. CISM International Centre for Mechanical Sciences (Courses and Lectures) 
Volume, Number, Page Vol. 601        pp. 321-329
Published date Sept. 2020 
Publisher
Japanese: 
English:Springer, Cham 
Conference name
Japanese: 
English:The 23rd CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY2020) 
Conference site
Japanese: 
English: 
DOI https://doi.org/10.1007/978-3-030-58380-4_39
Abstract Developing a simple, comfortable rehabilitation robot that can carry out in-home rehabilitation has been a long-time challenge. In this paper, we present a rehabilitation robot with one degree of freedom (DOF) for wrist joint flexion-extension movement. Passive joints have been added to the exoskeleton, forming a four-bar slider crank mechanism, which can reduce unwanted forces due to joint misalignment. A concept of modeling human soft tissue as a passive prismatic joint with spring is introduced in order to achieve the compactness and comfort of the robot simultaneously. In addition, the effects of human soft tissue displacement are compared. A trade-off between robot volume and comfort is discussed. Finally, the kineto-static analysis of the proposed design is conducted to prove the feasibility of adopting this concept in robot-assisted rehabilitation.

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