基于蓝牙的手部外骨骼体感同步控制设计  

Design of hand exoskeleton somatosensory synchronization control based on bluetooth

作　　者：王骏超 孟青云 唐俊怡 张凯 南德红 Wang Junchao;Meng Qingyun;Tang Junyi;Zhang Kai;Nan Dehong(School of Medical Instruments,Shanghai University of Medicine and Health Sciences,Shanghai 201318,China;School of Innovation,Shanghai University of Medicine and Health Sciences,Shanghai 201318,China)

机构地区：[1]上海健康医学院医疗器械学院,上海201318 [2]上海健康医学院创新学园,上海201318

出　　处：《现代仪器与医疗》2023年第3期12-17,24,共7页Modern Instruments & Medical Treatment

基　　金：国家级大学生创新创业训练计划项目(20211026206,2310262003)。

摘　　要：现如今,中国人均寿命普遍增长,老年人群体逐渐扩大,2021年已增长到2.1亿。快速老龄化容易导致更多人群出现脑部疾病或关节老化,而对上肢康复服务的需求不断增大。目前,主要的治疗方法如:服用神经营养药,针灸按摩等,能在一定程度上缓解症状,但想要完全恢复还需要加强肌肉的主动和被动活动,促进肌肉抗力,拉力和压应力的恢复。这就需要通过康复训练来完成。为解决上述问题,本项目基于Arduino系统设计构建了一种基于蓝牙的外骨骼手控制系统,可以通过蓝牙HC-05来连接外骨骼手,从而完成腕部旋转,手指运动,抓取物体等生活常用功能。并增加体感遥控设计,通过手的动作直接控制外骨骼手,增加患者主动康复训练的意愿。通过蒙特卡洛法在Matlab中对该外骨骼收进行空间上的仿真,验证了本设计能有效地辅助康复患者的手指运动,能够完成日常生活用品的抓取。通过理论推导与体感手部外骨骼实验数据表明该控制系统设计合理,能够在后续该机械手的临床实验中,提高康复患者的训练质量,在手康复训练中起到积极的作用。Up to now,life expectancy in China has generally increased,and the elderly population has gradually expanded to 210 million in 2021.Rapid aging is likely to lead to brain disease or aging of joints in more people,and the demand for upper limb rehabilitation services is growing.At present,the main treatment methods,such as taking neurotrophic drugs,acupuncture and massage,can alleviate the symptoms to a certain extent.However,to fully recover,it is necessary to strengthen the active and passive activities of muscles,and promote the recovery of muscle resistance,tensile and compressive stress.This needs to be done through rehabilitation training.In order to solve the above problems,this project has designed and built an exoskeleton hand control system based on the Arduino system.The exoskeleton hand can be connected through Bluetooth HC-05,so as to complete wrist rotation,finger movement,grasping objects and other common functions in life.In addition,the somatosensory remote control design is added to directly control the exoskeleton hand through the action of the hand,increasing the willingness of patients to take the initiative in rehabilitation training.Through the space simulation of the exoskeleton in Matlab by Monte Carlo method,it is verified that the design can effectively assist the finger movement of the rehabilitation patient and complete the grasping of daily necessities.Theoretical derivation and experimental data of somatosensory hand exoskeleton show that the design of the control system is reasonable,which can improve the training quality of rehabilitation patients and play an active role in hand rehabilitation training in subsequent clinical experiments of the manipulator.

关 键 词：体感同步 主被动康复 蓝牙测控 无线通信程序 外骨骼手部机器人 

分 类 号：R197.39[医药卫生—卫生事业管理] TH789[医药卫生—公共卫生与预防医学]