面向手部康复的耦合仿生机构设计

doi:10.3901/JME.260233

机械工程学报 ›› 2026, Vol. 62 ›› Issue (5): 133-150.doi: 10.3901/JME.260233

• 机器人及机构学 • 上一篇

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面向手部康复的耦合仿生机构设计

王年文^1,2, 万中华², 徐丽², 贾晓露², 张立杰^3,4, 谢平⁵

1. 燕山大学机械工程学院秦皇岛 066000;
2. 燕山大学艺术与设计学院秦皇岛 066000;
3. 燕山大学先进锻压成形技术与科学教育部重点实验室秦皇岛 066000;
4. 燕山大学河北省重型机械流体动力传输与控制实验室秦皇岛 066000;
5. 燕山大学河北省智能康复及神经调控重点实验室秦皇岛 066000;
6. 河北科技师范学院艺术学院秦皇岛 066000

收稿日期:2025-09-08 修回日期:2025-12-26 发布日期:2026-04-23
作者简介:王年文,男,1979年出生,博士,教授,博士研究生导师。主要研究方向为设计形态构型学、智能装备与康复辅具设计、产品视觉认知与信息图谱。
mail:wangnianw@ysu.edu.cn
万中华,男,1994年出生,博士研究生。主要研究方向为智能装备与康复辅具设计、设计形态构型学、感性工学。E-mail:wanzhonghua@stumail.ysu.edu.cn
贾晓露(通信作者),女,1985年出生,博士,硕士研究生导师。主要研究方向为智能装备与康复辅助设计,感性工学。E-mail:jiaxiaolu@ysu.edu.cn
基金资助:
2024年度河北省社会科学基金资助项目(HB24YS005)。

Design and Control System of a Coupled Bionic Mechanism for Hand Rehabilitation

WANG Nianwen^1,2, WAN Zhonghua², XU Li², JIA Xiaolu², ZHANG Lijie^3,4, XIE Ping⁵

1. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066000;
2. School of Arts and Design, Yanshan University, Qinhuangdao 066000;
3. Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University), Ministry of Education of China, Qinhuangdao 066000;
4. Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066000;
5. Key Laboratory of Intelligent Rehabilitation and Neuromodulation of Hebei Province, Yanshan University, Qinhuangdao 066000;
6. College of Art, Hebei Normal University of Science and Technology, Qinhuangdao 066000

Received:2025-09-08 Revised:2025-12-26 Published:2026-04-23

摘要/Abstract

摘要： 针对现有手部康复机器人在机构紧凑性、穿戴适配性、用户满意度较低及控制精确性方面不足的问题，提出一种基于多元耦合仿生的构型方法。首先，利用Kano和AHP理论挖掘分析用户需求并确定需求权重，并构建需求-功能映射模型。其次，结合耦合仿生理论筛选并确定机构及控制的仿生生物原型，明确设计定位，为后续机构耦合仿生设计提供理论依据。然后，提出直线推杆电机驱动的四环路十杆机构作为机构选型，进行传动机构、驱动结构和人机连接及产品外观设计，并通过运动学和动力学仿真验证机构设计的合理性。最后，进行样机研制及实验平台搭建，通过3D打印技术和铝合金激光切割技术制造实验样机零部件，并完成组装，对康复机器人的机构性能进行全面评估康。结果表明，所设计的机器人在运动范围、力学性能、静力学仿真以及疲劳寿命测试中均满足要求。本研究通过生物-产品意象求解，拓展了手部康复机器人仿生设计思路，对推动手部康复技术发展具有一定的理论意义和工程应用价值。

关键词: 工业设计, 耦合仿生, 手部康复机器人, 构型设计

Abstract: To address the shortcomings of existing hand rehabilitation robots in terms of structural compactness, wear adaptability, low user satisfaction, and insufficient control precision, a configuration method based on multi-source coupled bionics is proposed. Firstly, the Kano model and analytic hierarchy process (AHP) theory are employed to identify and analyze user requirements, determine their weights, and establish a requirement-function mapping model. Secondly, coupled bionic theory is applied to screen and identify biological prototypes for both the mechanism and control system, clarifying the design positioning and providing a theoretical basis for subsequent mechanism-coupled bionic design. Then, a four-loop ten-bar mechanism driven by linear pushrod motors is proposed as the selected mechanism type. The design encompasses the transmission mechanism, drive structure, human-machine connection, and product appearance. The rationality of the mechanism design is verified through kinematics and dynamics simulations. Finally, a prototype is developed and an experimental platform is constructed. Prototype components are manufactured using 3D printing technology and aluminum alloy laser cutting technology, followed by assembly. A comprehensive evaluation of the mechanism performance of the rehabilitation robot is conducted. The results demonstrate that the designed robot meets all requirements in terms of range of motion, mechanical performance, static simulation, and fatigue life testing. This study, by adopting a biological-product imagery solution, broadens the design concepts for bionic hand rehabilitation robots, offering certain theoretical significance and engineering application value for advancing hand rehabilitation technology.

Key words: industrial design, coupled bionics, hand rehabilitation robot, configuration design

中图分类号:

TB47

王年文, 万中华, 徐丽, 贾晓露, 张立杰, 谢平. 面向手部康复的耦合仿生机构设计[J]. 机械工程学报, 2026, 62(5): 133-150.

WANG Nianwen, WAN Zhonghua, XU Li, JIA Xiaolu, ZHANG Lijie, XIE Ping. Design and Control System of a Coupled Bionic Mechanism for Hand Rehabilitation[J]. Journal of Mechanical Engineering, 2026, 62(5): 133-150.

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面向手部康复的耦合仿生机构设计

Design and Control System of a Coupled Bionic Mechanism for Hand Rehabilitation

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