可穿戴式外骨骼康复机械手机构设计与分析  

Design and analysis of wearable exoskeleton rehabilitation manipulator mechanism

作　　者：陈建军 王勇[1] 杨岩江 CHEN Jianjun;WANG Yong;YANG Yanjiang(School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, China)

机构地区：[1]合肥工业大学机械工程学院,安徽合肥230009

出　　处：《合肥工业大学学报（自然科学版）》2020年第5期596-602,613,共8页Journal of Hefei University of Technology：Natural Science

基　　金：科技型中小企业创新基金资助项目(11C26214302042);合肥市科技计划重点资助项目(2015CY04);合肥工业大学应用培育计划资助项目(JZ2016YYPY0066)。

摘　　要：针对偏瘫患者在使用康复机械手进行康复训练时存在机械手和人手运动瞬心不重合以及调整机械手手指尺寸导致其运动规律发生改变的问题,文章设计了一种无滑移现象且尺寸可调的可穿戴式外骨骼康复机械手。对正常人手运动规律进行探究,以探究的运动规律为设计依据对机械手进行机构选型,确定采用瞬心投影机构和平行四杆机构;对机械手进行机构优化分析、建模仿真分析和物理样机试验分析,仿真和试验结果验证了该机械手对偏瘫患者手部康复训练的有效性。In view of the problem that there is no coincidence between the instantaneous center of the movement between the manipulator and the hand when hemiplegic patients use the rehabilitation manipulator for rehabilitation training,and the problem of changing the movement rule of manipulator finger by adjusting its finger size,this paper designs a wearable exoskeleton rehabilitation manipulator with no slip and adjustable size.Firstly,the normal manual movement law is explored.Secondly,the mechanism selection of the manipulator is carried out base on the explored movement law,and the instantaneous center projection mechanism and parallel four-bar mechanism are adopted.Finally,the mechanism optimization analysis,modeling simulation analysis and physical prototype experiment analysis are carried out to verify the effectiveness of the manipulator in hand rehabilitation training for hemiplegic patients.

关 键 词：偏瘫患者 康复机械手 外骨骼 机构设计 适应性试验 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]