柔性可穿戴腕部动力手套的设计与分析

doi:10.3901/JME.2018.19.001

机械工程学报 ›› 2018, Vol. 54 ›› Issue (19): 1-9.doi: 10.3901/JME.2018.19.001

• 机构学及机器人 • 下一篇

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柔性可穿戴腕部动力手套的设计与分析

姚建涛^1,2, 李海利¹, 曹开彬¹, 陈新博¹, 周盼¹, 赵永生^1,2

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. 先进锻压成形技术与科学教育部重点实验室(燕山大学) 秦皇岛 066004

收稿日期:2018-01-16 修回日期:2018-05-28 出版日期:2018-10-05 发布日期:2018-10-05
通讯作者: 姚建涛(通信作者),男,1980年出生,教授。主要研究方向为机器人机构理论及多维力感知机构。E-mail:jtyao@ysu.edu.cn
作者简介:李海利,男,1992年出生,博士研究生。主要研究方向为连续型机器人理论及应用。E-mail:1050985578@qq.com;曹开彬,男,1993年出生,硕士研究生。主要研究方向为柔性医疗康复装置。E-mail:941338551@qq.com
基金资助:
国家自然科学基金（51675459）和河北省自然科学基金京津冀合作专项（E2017203387）资助项目。

Design and Analysis of Flexible Wearable Wrist Power Glove

YAO Jiantao^1,2, LI Haili¹, CAO Kaibin¹, CHEN Xinbo¹, ZHOU Pan¹, ZHAO Yongsheng^1,2

1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004;
2. Key Laboratory of Advanced Forging & Stamping Technology and Science(Yanshan University), Ministry of Education of China, Qinhuangdao 066004

Received:2018-01-16 Revised:2018-05-28 Online:2018-10-05 Published:2018-10-05

摘要/Abstract

摘要： 动力手套是一种腕部康复训练装置，同时具有辅助的助力功能。康复训练是手腕进行自主康复的一种重要的辅助治疗手段，传统的康复训练装置大多采用电机驱动的刚性外骨骼结构，在运动时急剧变化的冲击力易造成关节二次伤害，同时较大的质量增加了身体的额外负担。基于气动人工肌肉设计并制作了一款柔性可穿戴动力手套装置，能够实现腕关节屈/伸、内收/外展两自由度运动，集康复训练与腕部助力于一体，轻量化柔顺的外骨骼结构提高了其便携性及舒适性。通过嵌入薄膜压力传感器能够感知手掌与物体之间的抓取力，自动实现腕关节助力功能并有效地保护腕部。对腕部进行穿戴静力分析求解手套装置的性能需求参数，并测试气动肌腱的关键指标及手套的整体性能，测试结果表明所设计的动力手套能够满足腕部康复训练要求并具有辅助的助力功能。

关键词: 动力手套, 康复训练, 可穿戴, 气动人工肌肉, 人机友好

Abstract: The power glove is a wrist rehabilitation training device that also has an auxiliary power assist function. Rehabilitation training is an important auxiliary treatment for self-rehabilitation. Most of the traditional rehabilitation training devices use a rigid exoskeleton structure driven by a motor, which tends to cause secondary injury to the joint due to the sharply changing impact force during exercise and increases the extra burden on the body owing to its larger mass. A flexible wearable powered glove device is designed and manufactured based on pneumatic artificial muscles. It can achieve wrist flexion/extension and adduction/abduction with two degrees of freedom and integrates rehabilitation training and wrist assistance. By contrast, the device is safer, more portable and comfortable for the patients because of its lightweight, soft exoskeleton structure. Additionally, by embedding a thin-film pressure sensor, the grasping force between the palm and the object can be perceived, and the wrist assist function can be automatically realized, and at the same time, the wrist can be effectively protected. A static analysis of wrist is carried out to solve the performance requirement parameters of glove device, and the key indicators of pneumatic muscle and the overall performance of gloves are tested. The test results show that the designed power gloves can meet the requirements of wrist rehabilitation training and have auxiliary assistance function.

Key words: man-machine friendly, pneumatic artificial muscles, power glove, rehabilitation training, wearable

中图分类号:

TP242

姚建涛, 李海利, 曹开彬, 陈新博, 周盼, 赵永生. 柔性可穿戴腕部动力手套的设计与分析[J]. 机械工程学报, 2018, 54(19): 1-9.

YAO Jiantao, LI Haili, CAO Kaibin, CHEN Xinbo, ZHOU Pan, ZHAO Yongsheng. Design and Analysis of Flexible Wearable Wrist Power Glove[J]. Journal of Mechanical Engineering, 2018, 54(19): 1-9.

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柔性可穿戴腕部动力手套的设计与分析

Design and Analysis of Flexible Wearable Wrist Power Glove

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