一种食指康复外骨骼机器人设计与分析

doi:10.3901/JME.2023.09.040

机械工程学报 ›› 2023, Vol. 59 ›› Issue (9): 40-50.doi: 10.3901/JME.2023.09.040

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一种食指康复外骨骼机器人设计与分析

田宇¹, 王洪波^1,2,3, 刘颖⁴, 杜家正^1,5, 牛建业^1,5

1. 燕山大学河北省并联机器人与机电系统实验室秦皇岛 066004;
2. 复旦大学工程与应用技术研究院上海 200433;
3. 上海市老年疾病临床医学研究中心上海 200040;
4. 秦皇岛市海港医院秦皇岛 066099;
5. 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

收稿日期:2022-05-09 修回日期:2022-09-21 出版日期:2023-05-05 发布日期:2023-07-19
通讯作者: 牛建业(通信作者),男,1982年出生,博士,副教授。主要研究方向为康复机器人及并联机器人技术。E-mail:jyniu@ysu.edu.cn E-mail:jyniu@ysu.edu.cn
作者简介:田宇,男,1994年出生,博士研究生。主要研究方向为医疗康复机器人。E-mail:ysusirtian@163.com;王洪波,男,1956年出生,博士,教授,博士研究生导师。主要研究方向为康复机器人与医疗护理机器人。E-mail:wanghongbo@fudan.edu.cn
基金资助:
国家自然科学基金(U1913216)和河北省省级科技计划(E2020103001、 20371801D)资助项目。

Design and Analysis of an Exoskeleton Robot forIndex Finger Rehabilitation

TIAN Yu¹, WANG Hongbo^1,2,3, LIU Ying⁴, DU Jiazheng^1,5, NIU Jianye^1,5

1. Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004;
2. Academy for Engineering&Technology, Fudan University, Shanghai 200433;
3. Shanghai Clinical Research Center for Aging and Medicine, Shanghai 200040;
4. Qinhuangdao Haigang Hospital, Qinhuangdao 066099;
5. Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of Education, Yanshan University, Qinhuangdao 066004

Received:2022-05-09 Revised:2022-09-21 Online:2023-05-05 Published:2023-07-19

摘要/Abstract

摘要： 针对现有手部康复机器人精细化操作不足与人机相容性较差的问题,从脑卒中临床康复需求出发,基于人体解剖学理论,提出一种新型欠驱动食指外骨骼康复机器人。采用2-UPS并联机构与鲍登线的新型组合设计,实现了掌指关节二自由度主动康复运动,提高了机器人精细化操作能力;在设计过程中将指骨作为人机闭式运动链的组成部分,并探讨了食指屈曲/伸展与内收/外展运动的耦合关系,完善了患者康复训练中的约束条件,使机器人运动与人体自然运动更加协调,提高了机器人的人机相容性;求解了机构的运动学反解,分析了机构的工作空间并完成了仿真验证;搭建实验样机并开展了机构性能测试,基于对15个被试开展的人机工程学与康复运动舒适性的调查问卷结果,采用层次分析法对设备进行了评价,结果表明该机构可以满足使用者的康复需求。

关键词: 食指康复, 运动学分析, 工作空间, 仿真验证, 性能测试

Abstract: To tackle the problems of insufficient precision of operation as well as poor human-machine compatibility of conventional hand rehabilitation robots, a novel underactuated index finger exoskeleton is proposed based on human anatomy to meet the clinical demand. By adopting the combination of 2-UPS parallel mechanism and Bowden wire, two degree-of-freedom active movements of the metacarpophalangeal joint are accomplished, and the operation precision of the robot is enhanced. During the design process, the phalanx is regarded as a part of the human-machine closed chain and the coupling relationship between the flexion/extension and the adduction/abduction movements is discussed to clarify the relationship of the constraint conditions during the rehabilitation training, which improves the coordination characteristics in the movement between human and robot and also the human-machine compatibility. The inverse kinematics of the mechanism is solved, the workspace is analyzed through both the theoretical analysis and simulation verification. A prototype is built to test the robot's performance, and based on the questionnaire of 15 subjects, the comfortability of the device is evaluated by using the analytic hierarchy process. The results show that this robot can satisfy the rehabilitation needs of patients.

Key words: finger rehabilitation, kinematic analysis, workspace, simulation validation, performance test

中图分类号:

TP242

田宇, 王洪波, 刘颖, 杜家正, 牛建业. 一种食指康复外骨骼机器人设计与分析[J]. 机械工程学报, 2023, 59(9): 40-50.

TIAN Yu, WANG Hongbo, LIU Ying, DU Jiazheng, NIU Jianye. Design and Analysis of an Exoskeleton Robot forIndex Finger Rehabilitation[J]. Journal of Mechanical Engineering, 2023, 59(9): 40-50.

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一种食指康复外骨骼机器人设计与分析

Design and Analysis of an Exoskeleton Robot forIndex Finger Rehabilitation

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