一种人机共融的手指外骨骼机器人设计与验证

doi:10.3901/JME.2024.17.102

机械工程学报 ›› 2024, Vol. 60 ›› Issue (17): 102-110.doi: 10.3901/JME.2024.17.102

• 特邀专栏：面向人民生命健康的机器人技术 • 上一篇下一篇

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一种人机共融的手指外骨骼机器人设计与验证

于金须^1,2, 闫建华^1,2, 王孝冉³, 张立杰^1,2, 谢平³, 李永泉^1,4

1. 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 066004;
2. 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 066004;
3. 燕山大学电气工程学院河北省智能康复及神经调控重点实验室秦皇岛 066004;
4. 燕山大学河北省并联机构与机电系统实验室秦皇岛 066004

收稿日期:2023-05-10 修回日期:2023-11-03 发布日期:2024-10-21
作者简介:于金须，男，1994年出生，博士研究生。主要研究方向为康复机器人。E-mail:yujinxustudy@foxmail.com
李永泉(通信作者)，男，1979年出生，副教授，博士研究生导师。主要研究方向为并联机构及机器人技术。发表论文20余篇。E-mail:lijiang197879@sina.com
基金资助:
国家自然科学基金(U20A20192)、河北省科技厅重点研发计划项目(21372005D)和河北省自然科学基金重点项目(F2022203079)资助项目。

Design and Verification of a Human-machine Fusion Hand Exoskeleton Robot

YU Jinxu^1,2, YAN Jianhua^1,2, WANG Xiaoran³, ZHANG Lijie^1,2, XIE Ping³, LI Yongquan^1,4

1. Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University), Ministry of Education of China, Qinhuangdao 066004;
2. Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004;
3. Key Laboratory of Intelligent Rehabilitation and Neuromodulation of Hebei Province, Institute of Electric Engineering, Yanshan University, Qinhuangdao 066004;
4. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004

Received:2023-05-10 Revised:2023-11-03 Published:2024-10-21

摘要/Abstract

摘要： 手指外骨骼机器人是一种手部康复训练装置，传统的连杆型手指外骨骼机器人通常只考虑远指关节的末端轨迹重合度，未考虑掌指关节和指间关节的末端轨迹，无法保证手指能够自然的屈伸，存在舒适性和安全性问题。基于人机共融外骨骼机构构型综合方法，建立了人机构型的约束方程，提出了人机共融设计方法，认为外骨骼机器人在穿戴后与手指共融为一个整体机构。设计了自适应角度采集设备进行了数据采集实验，并拟合出2个指关节关联性函数，将其引入人机构型约束方程，通过粒子群算法求解并优化了尺度参数，完成人机共融外骨骼机器人设计并仿真分析了其工作空间。搭建了外骨骼机器人样机并进行了实验，结果显示机器人样机具备人机共融特性，能够很好地拟合三关节末端的轨迹，证明了设计方法的有效性。

关键词: 人机共融, 连杆型手指外骨骼机器人, 关节末端轨迹, 指关节关联性函数, 工作空间

Abstract: Hand exoskeleton robots are a kind of hand rehabilitation training device. Traditional link-type hand exoskeleton robots usually only consider the endpoint trajectory coincidence of the distal interphalangeal joint, without considering the endpoint trajectory of the palm-phalangeal and interphalangeal joints. As a result, they cannot guarantee that the fingers can bend and stretch naturally, which poses problems in terms of comfort and safety. Based on the human-machine fusion exoskeleton structure synthesis method, the constraint equation of the human-machine structure is established, and a human-machine fusion design method is proposed, which considers the exoskeleton robot as a whole body structure with the fingers after being worn. An adaptive angle acquisition device was designed for data collection experiments, and two joint correlation functions were fitted and introduced into the human-machine structural constraint equation. The scale parameters were solved and optimized through particle swarm algorithm to complete the design of the human-machine coexisting exoskeleton robot and simulate its workspace. A prototype of the exoskeleton robot was built and experiments were conducted, showing that the machine has the characteristics of human-machine fusion, and it can fit the trajectory of the three joints well, proving the effectiveness of the design method.

Key words: human-machine fusion, link-type hand exoskeleton robot, end-point trajectory of joints, correlation function of finger joints, workspace

中图分类号:

TH112

于金须, 闫建华, 王孝冉, 张立杰, 谢平, 李永泉. 一种人机共融的手指外骨骼机器人设计与验证[J]. 机械工程学报, 2024, 60(17): 102-110.

YU Jinxu, YAN Jianhua, WANG Xiaoran, ZHANG Lijie, XIE Ping, LI Yongquan. Design and Verification of a Human-machine Fusion Hand Exoskeleton Robot[J]. Journal of Mechanical Engineering, 2024, 60(17): 102-110.

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一种人机共融的手指外骨骼机器人设计与验证

Design and Verification of a Human-machine Fusion Hand Exoskeleton Robot

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