用于康复训练的柔性机械手设计与实现  

Design and realization of flexible hand for rehabilitation

作　　者：张延恒 宋子辉 褚明 ZHANG Yanheng;SONG Zihui;CHU Ming(School of Modern Post,Beijing University of Posts and Telecommunications,Beijing 100876,China)

机构地区：[1]北京邮电大学现代邮政学院,北京100876

出　　处：《华中科技大学学报（自然科学版）》2023年第6期36-40,55,共6页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(51875046)。

摘　　要：基于柔性螺旋驱动机构,设计了一种应用于手开闭困难患者康复训练的柔性手部外骨骼机械手.该机械手通过柔性螺旋驱动机构带动柔性手指,产生大变形从而实现双向弯曲运动.通过对手指模型的简化,利用悬臂梁模型建立了柔性手指弯曲力学模型,进而得到了手指末端弯曲角度和弹簧旋转圈数之间的运动学关系.针对模型误差问题,建立了误差补偿函数对所建立的手指弯曲运动学模型进行修正,并实验验证了修正模型的有效性.最后,研制了柔性机械手,并对机械手的弯曲及负载能力进行了实验验证.Based on the flexible screw driving mechanism,a flexible hand exoskeleton for rehabilitation training was designed for patients with hand opening and closing difficulties.The hand exoskeleton used a flexible screw drive mechanism to drive the flexible finger to generate large deformation,thereby achieving bidirectional bending motion.By simplifying the finger model,a bending model of the flexible finger was established based on the cantilever beam hypothesis,and the kinematic relationship between the bending angle of the finger and the number of spring coils was obtained.To compensate for the model error,an error compensation function was established to amend the bending kinematics model,and the effectiveness of the modified model was verified by experiments.Finally,a flexible exoskeleton hand was developed,and the bending and load capacity of the hand were verified by experiments.

关 键 词：康复设备 柔性手指 机构设计 运动学建模 柔性螺旋驱动 

分 类 号：TH112[机械工程—机械设计及理论]