创伤手指康复外骨骼手系统的设计

在分析人手生物学特性的基础上,提出了一种新的外骨骼式机械手,用于创伤手指的术后康复治疗。基于模块化思想设计了外骨骼手机构本体,该外骨骼手可以适应不同人手长度,能够驱动手指进行独立的弯曲和内收/外展康复运动;康复过程要求外骨骼手能够实时反馈手指关节的角度和力信息,同时保证康复力始终垂直作用于指骨以避免损坏关节周围的软组织。对外骨骼手关节单自由度和二自由度构型进行了分析,建立了外骨骼手的运动学模型,给出了外骨骼手的运动学和动力学方程。以ARM微处理器为核心,建立了基于SPI总线的外骨骼手控制系统。最后,进行了外骨骼手的运动学和动力学仿真验证及食指弯曲方向康复实验研究。实验结果表明,创伤手指康复外骨骼手系统康复原理和方法正确可行,实验的重复性误差5%,表明外骨骼手系统能够满足创伤手指康复要求。

Design of rehabilitation hand exoskeleton system for injured fingers

On the basis of the biological characteristics of human hands, a novel exoskeleton mechanical hand is presented for the rehabilitation of injured fingers. The exoskeleton hand developed by a modular design technology can be regulated for hands with different sizes and for driving fingers to do flexion and abduction/adduction motions independently,and it also can feedback the information of finger joints in real-time during the rehabilitation. The device keeps a rehabilitation force perpendicular to the finger bone under therapy and avoids the soft tissue damage surrounding the finger bone. The one DOF and two DOF structures of the driving mechanism are analyzed and then a kinematical model for the hand exoskeleton is established. Kinematics and dynamics of the hand exoskeleton are analyzed, and their equations are built. Furthermore, a controller architecture using an ARM processor as the kernel is presented based on SPI bus. Finally,the kinematics and dynamics simulations of the hand exoskeleton and the flexion rehabilitation experiment of the index finger are undertaken. The results indicate that the rehabilitation principle and method are correct and the repeatability is less than 5%, which demonstrates that the exoskeleton system can satisfy the rehabilitation requirements of the injured fingers.