仿人形理疗机械手整体架构研究与关键技术概述  

Research on the Overall Architecture of Humanoid Physiotherapy Manipulator and Overview of Its Key Technologies

作　　者：陈旭东 巩忠领 刘有昊 周淑芳[1] CHEN Xudong;GONG Zhongling;LIU Youhao;ZHOU Shufang(Qingdao Huanghai University,Qingdao 266555,China)

机构地区：[1]青岛黄海学院,山东青岛266555

出　　处：《电子质量》2023年第11期1-6,共6页Electronics Quality

基　　金：2022年山东省大学生创新训练项目(S202213320036)资助。

摘　　要：仿人形理疗机械手是以手指手掌障碍者理疗为主,并以上肢障碍者复健为辅的医疗器械,其以提升障碍者佩带舒适度和器械运动合理性为科研目标。手掌手臂由拟态仿生、智能控制和传感器融合等技术要素相互合理构架、对比调试。并结合市场调研,根据目标人群的病理特性和损伤情况,利用仿生学中的信息与控制仿生科的研究方式,考察模拟目标人群使用机械手时的运动状态、身体状态和环境状态等影响使用因素,以达到复健理疗机械臂的精准控制效应。目前该器械已完成理论架构、三维组装、动态仿真和市场调研。从国内外发展现状、仿人形理疗机械手整体架构、仿人形理疗机械手的工作方式和理疗效果等内容出发,对复健理疗机械臂的技术架构进行系统的介绍。The humanoid physiotherapy manipulator is a medical device whose main function is for the physiotherapy of people with finger and palm disabilities,and its auxiliary function is for the rehabilitation of people with upper limb disabilitres.The aim of this device is to improve the comfort of the disabled and the rationality of the device movement.The palm and arm are reasonably constructed,compared and adjusted by the technical elements such as mimicry bionics,intelligent control and sensor fusion.Combined with market research,according to the pathological characteristics and damage conditions of the target population,the research method of information and control bionics is used to investigate the factors affecting the use of the manipulator,such as the motion stare,body state and environmental state,so as to form the precise control effect of the mechanical arm of rehabilitation therapy.At present,the device has completed the theoretical structure,three-dimensional assembly,dynamic simulation and market research.Starting from the development status at home and abroad,the overall structure of the humanoid physiotherapy manipulator,the working mode of the humanoid physiotherapy manipulator and the physiotherapy effect,the technical framework of the rehabilitation physiotherapy mechanical arm is systematically introduced.

关 键 词：智能上肢假肢 运动状态 肢体契合度 关节牵拉式 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]