末端牵引式手指康复机器人设计及其柔顺性控制方法  

Design and compliant control method of end traction finger rehabilitation robot

作　　者：王洪波[1,2] 闫勇敢 王辛诚 林木松[2] WANG Hongbo;YAN Yonggan;WANG Xincheng;LIN Musong(Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei 066004, China;Key Laboratory of Advanced Forging & Stamping technology and Science of Ministry of Education, Yanshan University, Qinhuangdao, Hebei 066004, China)

机构地区：[1]燕山大学河北省并联机器人与机电系统实验室,河北秦皇岛066004 [2]燕山大学先进锻压成形技术与科学教育部重点实验室,河北秦皇岛066004

出　　处：《中国科技论文》2020年第7期743-749,共7页China Sciencepaper

基　　金：河北省重点研发计划项目(19211820D);国家自然科学基金资助项目(U1913216);上海市2019年度“科技创新行动计划”生物医药领域科技支撑项目(19441908200)。

摘　　要：针对现有康复设备存在柔顺性不足、难以适应手部狭小活动空间等问题,设计了一种可实现手指屈伸、收展的末端牵引式手指康复机器人,并对其人机模型进行运动学、动力学分析。提出了一种基于手指训练位姿的阻抗控制模型,实现了面向手部关节的机器人变刚度设计。为了对机器人的性能进行验证,搭建了相关实验平台。实验结果表明,变刚度设计能实现不同训练位置处对应刚度的设定,基于训练中的手指位姿信息的阻抗控制器能够实现手指康复训练时的柔顺性控制。The existing rehabilitation robots have problems such as insufficient flexibility and difficulty in adapting to the small space of the hand.In view of this situation,an end traction finger rehabilitation robot was designed to achieve flexion/extension and adduction/abduction in this paper.Meanwhile,the models of kinematics and dynamics of this robot were established,respectively.Then,an impedance control model based on finger training posture was proposed,which can realize the variable stiffness of robot for finger joints.Finally,a test platform was set up for experimental verification.The experimental results showed that this kind of variable stiffness design model can set the corresponding stiffness for different training positions,and the impedance controller based on finger pose can achieve the compliance control during the finger rehabilitation training.

关 键 词：手指康复机器人 变刚度 阻抗控制 柔顺性 

分 类 号：TH772[机械工程—仪器科学与技术]