采用套索驱动的手部助力外骨骼设计与抓握实验研究  

Novel Design and Grasping Experiment of a HandAssisted Exoskeleton Driven by Tendon-Sheath Actuator

作　　者：宋纪元[1,2] 朱爱斌[1,2] 张晶[1,3] 郑春莉 屠尧[1,2] 黄虎 张政[1,2] 徐海波 SONG Jiyuan;ZHU Aibin;ZHANG Jing;ZHENG Chunli;TU Yao;HUANG Hu;ZHANG Zheng;XU Haibo(Institute of Robotics&Intelligent Systems,Xi’an Jiaotong University,Xi’an 710049,China;Shaanxi KeyLaboratory of Intelligent Robots,Xi’an Jiaotong University,Xi’an 710049,China;Key Laboratory of EducationMinistry for Modern Design and RotorBearing System,Xi’an Jiaotong University,Xi’an 710049,China;Department of Environmental Science and Engineering,Xi’an Jiaotong University,Xi’an 710049,China)

机构地区：[1]西安交通大学机器人与智能系统研究所,710049,西安 [2]西安交通大学陕西省智能机器人重点实验室,西安710049 [3]西安交通大学现代设计及转子轴承系统教育部重点实验室,西安710049 [4]西安交通大学环境科学与工程系,西安710049

出　　处：《西安交通大学学报》2023年第8期115-126,共12页Journal of Xi'an Jiaotong University

基　　金：国家自然科学基金资助项目(52175061);新疆维吾尔自治区重大科技专项资助项目(2021A02002);陕西省重点研发计划资助项目(2022SF-355)。

摘　　要：针对航天和工业领域中人体佩戴手套执行任务时,手指关节处因受到编织物挤压而造成的手部疲劳损伤以及抓握力下降等问题,设计了一种采用套索驱动的手部助力外骨骼系统。该系统采用以速度为内环、力为外环的力PID控制方法,以拉力传感器反馈输出力,通过力学建模对手部助力外骨骼导线槽开展位置优化。对所设计的外骨骼系统开展抓握实验,结果表明:人体穿戴手部助力外骨骼可再现Feix分类法中全部33种抓握类型;外骨骼抓握指尖力最高可达14N;与不穿戴外骨骼相比,穿戴外骨骼时人体手指关节运动范围能够达到自主弯曲运动范围的63%以上,掌指关节、近端指间关节和大拇指的指间关节角度的皮尔森相关系数可达0.90以上;外骨骼助力抓握使得肱桡肌和桡侧腕长伸肌的肌电均方根峰值分别减小了37.86%和62.46%。实验结果证明所设计的手部助力外骨骼能够明显减少手部肌肉耗能。A handassisted exoskeleton system driven by a tendonsheath actuator is designed to address the problem that,in the aerospace and industrial fields,fatigue damage to hands is caused and grasp strength is reduced,when personnel wear gloves to perform tasks,as finger joints are subject to the glove woven fabric compression.For this system,a PID force control method with speed as the inner loop and force as the outer loop is used,and the output force is fed back with a force sensor.The location of the handassisted exoskeleton cable slot is optimized by mechanics modeling.The grasping experiment for the designed exoskeleton system reveals that the assisted exoskeleton can reproduce all 33 grasp types in the Feix taxonomy;the grasping force of the exoskeleton at the fingertip can reach 14N;with the exoskeleton,human finger joints can move by more than 63%of the independent finger bending range;the Pearson correlation coefficient of the angle of the metacarpophalangeal joint,proximal interphalangeal joint,and interphalangeal joint can reach more than 0.90;the peak RMS values of the brachioradialis muscle and the radial extensor carpi longus muscle decreased by 37.86%and 62.46%,respectively.The experimental results indicate that the designed handassisted exoskeleton can significantly reduce hand muscle energy consumption.

关 键 词：套索驱动 手部助力 外骨骼机构 抓握实验 静力学分析 

分 类 号：TH117.1[机械工程—机械设计及理论]