柔性可穿戴康复手套的设计与控制  

Design and Control of a Soft and Wearable Robotic Glove for Hand Rehabilitation

作　　者：彭广帅 樊星雨 刘笑宇[1,2] 王丽珍[1,2] PENG Guangshuai;FAN Xingyu;LIU Xiaoyu;WANG Lizhen(Key laboratory for Biomechanics and Mechanobiology of Ministry of Education,School of Biological Science and Medical Engineering,Beihang University,Beijing 100083,China;Beijing Advanced Innovation Centre for Biomedical Engineering,Beihang University,Beijing 100083,China;College of Bioengineering,Chongqing University,Chongqing 400044,China)

机构地区：[1]北京航空航天大学生物与医学工程学院生物力学与力生物学教育部重点实验室,北京100083 [2]北京航空航天大学生物医学工程高精尖创新中心,北京100083 [3]重庆大学生物工程学院,重庆400044

出　　处：《医用生物力学》2019年第6期637-643,共7页Journal of Medical Biomechanics

基　　金：国家自然科学基金项目(61761166002)

摘　　要：目的 为提高手功能康复机器人的临床应用,改善现有刚性外骨骼康复机器人结构复杂、质量大、存在安全隐患等缺点,提出一种新型柔性可穿戴康复手套。方法 康复手套由McKibben型气动人工肌肉(pneumatic artificial muscles,PAMs)驱动,并仿人手的解剖和生理结构设计了腱驱动网络,利用佩戴者自身的指骨关节来传递力和扭矩,模拟人手的正常运动,大幅度减轻设备的重量。同时设计表面肌电信号(surface electromyography,s EMG)采集电路和基于表面肌电信号的佩戴者运动意图检测方法。结果 柔性康复手套的特性测量实验结果表明,康复手套能够有效协助佩戴者完成日常动作和日常生活用品的抓取,验证了该康复手套的可行性和科学性。结论 所设计的康复手套具有质量轻、易操作、舒适度高等优点,可为类似的手部康复设备研究和设计提供参考。Objective To improve the clinical application of using rehabilitation robot for hand rehabilitation and solve the current shortcomings of rigid hand rehabilitation robot,such as complex structure,heavy weight,potential safety hazard,a new soft and wearable robotic glove was proposed.Methods The robotic glove was driven by McKibben pneumatic artificial muscles(PAMs).The tendon drive system was designed based on simulation of human hand anatomy and physiology structure,which could transmit forces and torques through the user’s own skeleton and joints.The normal hand movement could be simulated and this design pattern highly reduced the weight of the robotic glove.Meanwhile a surface electromyogrphy(sEMG)collecting circuit was developed to acquire sEMG signals from the forearm.User intent could be detected by measuring the sEMG of flexor digitorum superficialis and extensor digitorum communis on the forearm.Results The results of the experiment investigation on characteristics of the soft robotic glove showed that the robotic glove could effectively assist people completing daily activities and grasping daily necessities.The feasibility and scientificity of the robotic glove was validated.Conclusions The soft and wearable robotic glove has an advantage of light weight,easy operation and high comfortableness,and it can provide references for the study and design of similar hand rehabilitation devices.

关 键 词：可穿戴 柔性康复手套 腱驱动系统 气动人工肌肉 手康复 

分 类 号：R318.06[医药卫生—生物医学工程]