欠驱动康复外骨骼手的设计及试验

为了解决手部丧失运动能力患者的康复训练以及日常生活不便的问题,设计了欠驱动康复外骨骼手。研究了人手的生理结构,由关节间存在的耦合运动,设计了多连杆以及齿轮传动系统,实现欠驱动康复训练。利用解析法建立了单个手指的运动学模型,通过单个手指的运动学模型建立4指的拟合抓握模型,并进行了模拟仿真。建立样机并进行样机实验及运动学仿真,通过结果的对比分析,外骨骼手运动实现了预期的运动且运动合理、误差小。

Design and Experiment of Under-actuated Rehabilitation Exoskeleton Hand

For solving the problem how the hand incapacitation patients do rehabilitation training and daily life easily,an under-actuated exoskeleton hand is designed.Firstly,aiming at the coupling motion between joints,a multi-link and gear transmission system is designed and a single drive to drive the entire finger movement for under-actuation rehabilitation training is achieved by studying the physiological structure of the human hand.Then,the kinematics model of a single finger is established by using analytic method.The four-finger fit grip model is established by the kinematics model of a single finger,and the simulation is carried out.Finally,kinematics simulation analysis and prototype experiment are carried out.Through the comparative analysis of the results,the exoskeleton hand movement realizes the expected motion with reasonable motion and small error.