手指康复机器人的设计与研究  

Design and Research of Finger Rehabilitation Robot

作　　者：齐贺男 吴学锋 李东亚[1] Qi Henan;Wu Xuefeng;Li Dongya(Department of Engineering,Applied Technology College of Soochow University,Kunshan,Jiangsu 215300,China)

机构地区：[1]苏州大学应用技术学院工学院,江苏昆山215300

出　　处：《机电工程技术》2022年第2期59-62,共4页Mechanical & Electrical Engineering Technology

基　　金：2020年第二批苏州高等职业教学教改研究课题项目(编号:SGJGB0225);2020年江苏高校哲学社会科学研究一般项目(编号:2020SJA2330)。

摘　　要：手指康复机器人是一种特殊的新型机器人,为临床手功能障碍患者提供新的治疗方案,可以有效帮助患者顺利完成康复训练活动。旨在设计一款手指康复机器人,用机器人来代替康复理疗师的工作。通过分析人手的生理学结构与生物机能,得到了人手的运动状态。对手指空间机构分析,选择单自由度手指机械结构。为解决手关节康复角度与垂直力的问题,引入滑块与导轨机构,运用Creo三维软件完成手指康复机器人模型。通过D-H方法,分析手指康复机器人的正逆运动学,建立雅克比矩阵,完成动力学方程。选择适当的电机类型与传动方式,模块化设计出手指康复机器人。为了提高康复过程中感知能力,设计并研究力与位置传感器应用范围。实验结果表明,该手指康复机器人可以完成患者的康复训练活动,有利于未来医疗行业的发展。Finger rehabilitation robot is a special new type of robot,which is used to provide a new treatment program for clinical hand dysfunction patients,and it can effectively help patients to successfully complete the rehabilitation training activities.The purpose is to design a finger rehabilitation robot to replace the work of rehabilitation physiotherapists.By analyzing the physiological structure and biological function of human hand,the movement state of human hand was obtained.The finger spatial mechanism was analyzed and the single degree of freedom finger mechanical structure was selected.In order to solve the problem of hand joint rehabilitation angle and vertical force,the slider and guide mechanism were introduced,and the finger rehabilitation robot model was completed by using Creo three-dimensional software.Through the D-H method,the forward and inverse kinematics of the finger rehabilitation robot was analyzed,the Jacobian matrix was established,and the dynamic equation was completed.The finger rehabilitation robot was designed by selecting the appropriate motor type and transmission mode.In order to improve the perception ability in the process of rehabilitation,the application range of force and position sensors was designed and studied.The experimental results show that the finger rehabilitation robot can complete the rehabilitation training activities of patients,which is conducive to the development of medical industry in the future.

关 键 词：手指康复机器人 D-H方法 雅克比矩阵 模块化 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]