基于钢琴触键动作的教育辅助型外骨骼机械手设计  

Design of education assisted hand exoskeleton based on piano touching action

作　　者：蔡蓉杰 丁伯慧[1] 李泽[1] 丁晨阳 CAI Rong-jie;DING Bo-hui;LI Ze;DING Chen-yang(Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education,Tianjin University,Tianjin,300350,China)

机构地区：[1]天津大学机构理论与装备设计教育部重点实验室,天津300350

出　　处：《控制与决策》2022年第2期314-322,共9页Control and Decision

基　　金：国家自然科学基金面上项目(61877042).

摘　　要：为了掌握钢琴弹奏技能,初学者往往需要在教师的帮助下不断重复训练并纠正错误的触键动作.这种方法训练强度大,单调乏味,教学效果与教师的经验相关.近年来,用于辅助人手运动的外骨骼机械手研究逐渐增加,但结构复杂、运动精度较低、缺少反馈与运动评价等问题仍然存在.针对这些问题,首先采用leap motion建立手指触键动作测量平台,采集手指触键动作参数值,获得手指弹琴触键运动曲线;然后设计一款用于钢琴教学训练的外骨骼钢琴教学机械手.该机械手采用特有的欠驱动传动方式,实现远指节DIP、近指节PIP与掌指节MCP的耦合运动.最后,对钢琴教学机械手进行仿真分析,以及进行人手穿戴弹奏实验,验证了钢琴教学机械手结构可靠,动作还原精度较高,能够满足钢琴弹奏动作练习要求.该钢琴教学机械手结构简单、穿戴方便,可辅助钢琴弹奏初学者自学.Piano beginners need a lot of repetitive exercises of raising and dropping fingers and master the correct piano playing actions to master piano skills with the help of teachers and repeat the training.The training intensity of this method is strong and monotonous,and the teaching effect is related to teachers’experience.In recent years,the research of exoskeleton manipulator used to assist human hand has gradually increased.But there are some problems,such as complex structure,low motion accuracy,lack of feedback and motion evaluation.Firstly,leap motion is used to build the measurement platform of finger touching action.And the finger touching action parameters value can be collected and then get the finger touching key motion curve.Then,an exoskeleton piano teaching manipulator is designed.Finally,the simulation analysis and piano playing experiment of the piano teaching manipulator verify that the piano teaching manipulator has reliable structure,high action accuracy and can meet the requirements of piano playing practice.The structure of the manipulator is simple and easy to wear,which can meet the requirements of finger touching piano in teaching process,and assist the beginners to learn by themselves.

关 键 词：钢琴弹奏 动作分析 关节转角 欠驱动 外骨骼 绳索传动 机械手 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]