Title: Key Technologies of Human-Machine
Collaborative Rehabilitation Robots
Abstract: This study presents a linkage-driven underactuated three-finger hand to imitate
the flexion/extension (f/e) and abduction/adduction (a/a) motions of human hand. The
robotic hand has three identical underactuated fingers, each of which contains an
underactuated planar linkage, a spherical four-bar mechanism, and a set of bevel gears.
The spherical four-bar mechanism is designed to provide 2-degree-of-freedom
actuation, driving the f/e and a/a motions of the proximal joint simultaneously. Based
on screw theory, the kinematic model of the spherical mechanism is established, and
the maximum available workspace index (MAW) of the spherical mechanism is
proposed to evaluate the workspace with the same adduction and abduction angle
ranges. The effects of the parameters of the spherical mechanism on the MAW and the
transmission efficiency are obtained, and the parameters of the spherical mechanism
are optimized. The optimization results show that the MAW of the spherical
mechanism can be increased by up to 3.5 times. Finally, experiments are carried out to
show the proposed robotic hand can perform simultaneous adaptive grasping and in-
hand manipulation. Bio: Guotao Li is currently an associate professor at the State Key Laboratory of
Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese
Academy of Sciences. His research interests include human-machine
collaborative rehabilitation robots, interactive perception and training control.
More than 40 academic papers have been published, and 14 papers have been
published as the first or corresponding author in IEEE journals such as IEEE TRO.
He has presided over and undertaken more than 10 national projects. He has won
the Best Paper Award at IEEE conferences four times and the Silver Award at the
Geneva International Exhibition of Inventions. He has also developed a series of rehabilitation robot systems for the upper limbs, lower limbs and spine. Clinical validation of patients was completed in
more than 10 hospitals. He served as the first young editorial board member of the journals SmartBot
and Robot Learning, and was a member of multiple special committees such as the CAA Hybrid
Intelligence Committee, the CAAI Intelligent Robot Committee, the CAAI Embodied Intelligence
Committee, and the CCF Intelligent Robot Committee.
