Design of a powered elbow orthosis for orthopaedic rehabilitation using compliant actuation

摘要

Rehabilitation robotics is a young discipline that will become an imperative when the age of the population rises. The orthopaedic rehabilitation of the elbow joint poses some interesting challenges, discussed in this paper. There is a major difference between neuro-rehabilitation and orthopaedic rehabilitation and thus in the approaches necessary to tackle its challenges. Moreover, the elbow joint itself has some particular characteristics that render the rehabilitation process different from others. The mechanical design and design requirements of the developed powered elbow orthosis using MACCEPA actuators will be discussed, as well as the working principle of this novel rotational actuator with online adaptable compliance.