人机运动中心自匹配的腕关节康复外骨骼设计

doi:10.3901/JME.2025.21.100

机械工程学报 ›› 2025, Vol. 61 ›› Issue (21): 100-110.doi: 10.3901/JME.2025.21.100

• 特邀专栏：纪念张启先院士诞辰 100 周年 • 上一篇

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人机运动中心自匹配的腕关节康复外骨骼设计

王暾¹, 张行¹, 张仕民¹, 朱霄霄², 张来斌², 戴建生^3,4

1. 中国石油大学(北京)机械与储运工程学院北京 102249;
2. 中国石油大学(北京)安全与海洋工程学院北京 102249;
3. 南方科技大学机器人研究院深圳 518055;
4. 伦敦国王学院机器人学研究中心伦敦 WC2R 2LS 英国

收稿日期:2025-02-28 修回日期:2025-08-13 发布日期:2025-12-27
作者简介:王暾，男，1991年出生，副教授。主要研究方向为外骨骼机器人、变胞与可重构技术、并联机构设计与分析、多指灵巧手、油气特种机器人等。E-mail：tun.wang@cup.edu.cn
戴建生(通信作者)，男，1954年出生，英国皇家工程院院士，欧洲科学院院士。主要研究方向为变胞机构、可重构机构与可重构机器人、康复机器人、足式机器人等。E-mail：daijs@sustech.edu.cn
基金资助:
中国石油大学(北京)学科前沿交叉探索专项(2462024XKQY010)、中国石油大学(北京)科研启动基金(2462023BJRC027)、中国石油大学(北京)科研基金(2462023QNXZ012)、国家自然科学基金(52335003)、广东省科技计划(2023ZT10Z002)、深圳市科技计划(ZDSYS20220527171403009，KQTD20240729102052065)和教育部供需对接就业育人-重点领域校企合作(2023122896928)资助项目。

Design of a Human-machine Motion Centre Auto-matched Wrist Rehabilitation Exoskeleton

WANG Tun¹, ZHANG Hang¹, ZHANG Shimin¹, ZHU Xiaoxiao², ZHANG Laibin², DAI Jiansheng^3,4

1. College of Mechanical and Transportation Engineering, China University of Petroleum (Beijing), Beijing 102249;
2. College of Safety and Ocean Engineering, China University of Petroleum (Beijing), Beijing 102249;
3. Institute for Robotics, Southern University of Science and Technology, Shenzhen 518055;
4. Centre for Robotics Research, King's College London, London WC2R 2LS, UK

Received:2025-02-28 Revised:2025-08-13 Published:2025-12-27

摘要/Abstract

摘要： 脑卒中是一种神经损伤性疾病，是我国成人致死、致残首位病因，给家庭和社会造成巨大负担。机器人技术可有效帮助脑卒中患者进行神经重塑和肢体康复。手腕关节作为人体最为灵活的关节之一，其功能障碍将严重降低患者生活质量。因此，设计了一种基于并联机构的、用于腕关节康复的外骨骼机器人。设计考虑手腕关节骨骼结构，提出一种新的更符合其生物学运动特征的腕关节简化模型。基于该模型利用旋量理论对所设计外骨骼的人机匹配性及运动特性进行分析。建立该外骨骼机构的运动学模型，进行奇异性、工作空间及灵巧度等运动学性能评价，并对其驱动特性进行研究。结果表明设计可满足腕关节康复需求，并可实时匹配运动腕关节中心；与已有研究相比，所设计外骨骼具备良好运动学性能并可实现驱动解耦。

关键词: 中风康复, 并联机构, 外骨骼机器人, 旋量理论

Abstract: Stroke is a neurodegenerative disease, and the leading cause of death and disability among adults in China, which places a significant burden on families and society. Robotic technology can effectively assist stroke patients in neuroplasticity and limb rehabilitation. The wrist joint, as one of the most agile joints in the human body, its dysfunction can significantly degrade the quality of life for patients. Therefore, an exoskeleton robot based on a parallel mechanism has been designed for wrist rehabilitation. The design considered the skeletal structure of the wrist and proposed a novel reduced model that more accurately reflects the biomechanical characteristics of the wrist joint’s movement. Based on the model, the human-machine compatibility and motion characteristics of the designed exoskeleton are analysed by employing the screw theory. The kinematic model of the exoskeleton mechanism is established, and its kinematic performance such as singularity, workspace, and dexterity were evaluated, along with an analysis of its actuation feature. The results indicated that the design meets the rehabilitation needs of the wrist joint and can match the movable wrist joint centre in real-time. Compared to existing studies, the designed exoskeleton exhibits superior kinematic performance and achieves actuation decoupling.

Key words: stroke rehabilitation, parallel mechanism, exoskeleton robot, screw theory

中图分类号:

王暾, 张行, 张仕民, 朱霄霄, 张来斌, 戴建生. 人机运动中心自匹配的腕关节康复外骨骼设计[J]. 机械工程学报, 2025, 61(21): 100-110.

WANG Tun, ZHANG Hang, ZHANG Shimin, ZHU Xiaoxiao, ZHANG Laibin, DAI Jiansheng. Design of a Human-machine Motion Centre Auto-matched Wrist Rehabilitation Exoskeleton[J]. Journal of Mechanical Engineering, 2025, 61(21): 100-110.

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人机运动中心自匹配的腕关节康复外骨骼设计

Design of a Human-machine Motion Centre Auto-matched Wrist Rehabilitation Exoskeleton

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