给外骨骼加手腕侧向运动功能，显著提升康复训练任务成功率。
A Tendon-Driven Wrist Abduction-Adduction Joint Improves Performance of a 5 DoF Upper Limb Exoskeleton -- Implementation and Experimental Evaluation
- 用腱驱动实现外展，弹簧驱动内收，结构紧凑轻便。
- 喝水时洒漏率从56%降至3%，抓痒成功率从28%升至75%。
- 为未来康复外骨骼设计提供关键实证，适合运动功能障碍者。
手腕功能在日常活动（ADLs）中至关重要，但目前缺乏关于上肢外骨骼（ULE）中腕部外展-内收（Ab-Ad）关节辅助功能的实验证据。本研究评估了在五自由度（DoF）外骨骼EXOTIC2中集成主动腕部Ab-Ad关节对严重运动功能障碍患者的支持效果。方法：将一个紧凑轻量的腕部模块集成至EXOTIC外骨骼，该模块采用腱驱动外展与弹簧驱动内收。八名无运动障碍成年人在随机分配的腕部启用与锁定条件下完成饮水和抓痒任务，并对一名肌萎缩侧索硬化症（ALS）患者进行初步可行性测试。评估了运动学及任务表现指标，包括腕部活动范围、任务完成时间、洒漏率和水平度。结果：引入腕部Ab-Ad自由度显著改善任务成功率。饮水任务中洒漏率从56%降至3%，抓痒任务水平度成功率从28%提升至75%。结论：整合腕部Ab-Ad辅助功能可显著提升关键任务表现，且未增加执行时间。意义：研究为主动腕部Ab-Ad控制提升外骨骼辅助日常活动表现提供了实验依据，支持其在未来辅助外骨骼中的应用。
原文摘要 · Abstract (English)
Wrist function is essential in performing activities of daily living (ADLs). However, there is limited experimental evidence on the functional impact of wrist Abduction-Adduction (Ab-Ad) joint assistance in upper limb exoskeletons (ULEs) for rehabilitation. This study evaluates the effect of implementing an active wrist Ab-Ad joint in a five degree of freedom (DoF) ULE, EXOTIC2 exoskeleton, to support individuals with severe motor impairments. Methods: A compact, lightweight wrist module with tendon-driven abduction and spring-driven adduction was integrated into the EXOTIC exoskeleton. Eight adults with no motor disabilities completed drinking and scratching tasks under randomized wrist-enabled and wrist-locked conditions along with a preliminary feasibility test in one individual with Amyotrophic lateral sclerosis (ALS). Kinematic and task performance metrics including wrist range of motion, task completion time, spillage and leveling metrics were assessed. Results: Implementing the wrist Ab-Ad DoF improved task success metrics. Spill incidence during the drinking task decreased from 56% to 3%, and leveling success for scratching task improved from 28% to 75%. Conclusion: Integrating wrist Ab-Ad assistance improved key functional task outcomes without increasing execution time. Significance: The study provides the experimental evidence that active wrist Ab-Ad control enhances task-level performance in exoskeleton-assisted ADLs.
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