基于医工结合的指关节运动学模型建立与验证  

Establishment and Verification of Finger Joint Kinematic Model Based on the Combination of Medicine and Engineering

作　　者：于金须 闫建华 肖俊明 李永泉[1,4] 谢平[3] 张立杰[1,2] YU Jinxu;YAN Jianhua;XIAO Junming;LI Yongquan;XIE Ping;ZHANG Lijie(Key Laboratory of Advanced Forging&Stamping Technology and Science(Yanshan University),Ministry of Education of China,Qinhuangdao 066004;Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control,Yanshan University,Qinhuangdao 066004;Key Laboratory of Intelligent Rehabilitation and Neuromodulation of Hebei Province,Institute of Electric Engineering,Yanshan University,Qinhuangdao 066004;Parallel Robot and Mechatronic System Laboratory of Hebei Province,Yanshan University,Qinhuangdao 066004)

机构地区：[1]燕山大学先进锻压成形技术与科学教育部重点实验室,秦皇岛066004 [2]燕山大学河北省重型机械流体动力传输与控制实验室,秦皇岛066004 [3]燕山大学电气工程学院河北省智能康复及神经调控重点实验室,秦皇岛066004 [4]燕山大学河北省并联机构与机电系统实验室,秦皇岛066004

出　　处：《机械工程学报》2024年第15期149-159,共11页Journal of Mechanical Engineering

基　　金：河北省创新能力提升计划(22567619H);河北省自然科学基金重点(F2022203079)资助项目。

摘　　要：手部外骨骼机构是进行手部康复训练的主要选择之一,其舒适性和安全性主要取决于是否符合人体指关节运动学特征。为了建立准确的指关节运动学模型,首先通过采集手指屈伸过程的医学影像,分析关节运动过程中指骨的接触方式,确定了在关节转动时两指骨的相对运动为滚动与滑动叠加的混合运动,进而证明了指关节运动为非定中心转动。然后,提出“瞬径法”计算连续瞬心轨迹,并通过极坐标变换获取了手指各关节连续瞬心轨迹曲线,并通过能够适应指关节瞬心变化的角度采集设备获取了关节角度变化规律,建立了指关节关联性映射,并分析了关节角度和角速度特征。最后,利用等效瞬心将指关节运动学模型与工程应用相对接,设计了能够定位指关节等效瞬心的跨越式转动副,并将其加装在手部外骨骼机构上进行运动学测试和人机相容性测试,结果表明符合指关节运动学特征的外骨骼机构能够更好地拟合手指生理运动轨迹,在辅助过程中对各指段的压力也更低,证明了模型的有效性。Hand exoskeletons are one of the primary choices for hand rehabilitation training,and their comfort and safety largely depend on their adherence to human finger joint kinematics.In order to establish an accurate finger joint kinematic model,medical images of the finger flexion and extension process are first collected.The analysis of joint motion during the process identified how the finger bones make contact and demonstrated that during joint rotation,the motion of the two finger bones involves both rolling and sliding,thereby proving that finger joint motion is non-fixed center rotation.Next,the“instantaneous center radius method”is proposed to calculate continuous instantaneous center trajectories.Through polar coordinate transformation,continuous instantaneous center trajectory curves for each finger joint are obtained.By using angle acquisition devices that can adapt to changes in the instantaneous center of finger joints,the patterns of joint angle changes are captured.This led to the establishment of a correlation mapping of finger joint movements and an analysis of joint angle and angular velocity characteristics.Finally,by employing equivalent instantaneous centers,the finger joint kinematic model is integrated with engineering applications.A straddle rotating pair that can locate the equivalent instantaneous centers of finger joints is designed and installed on the hand exoskeleton mechanism for kinematic testing and human-machine compatibility testing.The results show that exoskeleton mechanisms conforming to finger joint kinematic characteristics can better replicate the physiological finger movement trajectory,and they apply lower pressure on different segments of the fingers during assistance,thus confirming the effectiveness of the model.

关 键 词：指关节运动学模型 手部外骨骼机构 关节转动瞬心 关节角度 人机相容性 

分 类 号：TH112[机械工程—机械设计及理论]