一种个性化绳索欠驱动仿人假肢手的设计方法和实践  

Design Method and Practice of a Personalized Rope Underactuated Humanoid Prosthetic Hand

作　　者：刘晓杰 张绪树 郭媛 郭壮 文云鹏 LIU Xiao-jie;ZHANG Xu-shu;GUO Yuan;GUO Zhuang;WEN Yun-peng(College of Biomedical Engineering,Taiyuan University of Technology,Jinzhong 030600,China;Rehabilitation Medicine Department of Shanxi Huajin Orthopedic Hospital,Taiyuan 030400,China)

机构地区：[1]太原理工大学生物医学工程学院,晋中030600 [2]山西华晋骨科医院康复医学科,太原030400

出　　处：《科学技术与工程》2024年第32期13879-13889,共11页Science Technology and Engineering

基　　金：国家自然科学基金(11972243);山西省华晋骨科公益基金(2023)。

摘　　要：针对当前假肢手设计成本高和外观不拟人的问题,提出和测试了一种基于人手部解剖结构、运动学实验和假肢手多刚体模型仿真的仿人假肢手设计方法。以人手为研究对象,选取“抓、握、捏”三类人手常用的手部工况,采用Vicon运动捕捉系统采集人手部关节运动学数据,计算各关节运动角度并进行关节运动相关性分析。采用人手计算机断层摄影(computed tomography,CT)图像建立假肢手多刚体模型。采用人手运动学实验数据对多刚体模型进行运动学仿真。最后,对假肢手多刚体模型进行3D打印,制作假肢手样机并进行抓握性能测试。样机测试结果表明:仿人假肢手可以完成“抓、握、捏”三类常见的手部动作,其单指尖力平均值为1.73 N,双指尖力为3.92 N。假肢手表面摩擦系数为0.79,抓握力为4.14 N。所设计的仿人假肢手具有拟人化的外观和基本的手部功能,其制造成本低,可满足残疾人的心理需求和购买需求。研究成果可为假肢手的个性化设计提供方法与实践参考。To address the prevalent issues of high cost and non-anthropomorphic appearance in current prosthetic hand design.A novel approach was proposed and tested based on the anatomical structure of the human hand,kinematic experiments,and simulation of prosthetic hand multi-rigid body models.Human hands were selected as the research subject,with three common hand activities(“grasping,gripping and pinching”)chosen for analysis.Kinematic data on hand joint movements were collected using the Vicon motion capture system,and joint motion angles were calculated and subjected to joint motion correlation analysis.Multi-rigid body models of prosthetic hands were developed based on human hand computed tomography(CT)images.Kinematic simulation of these multi-rigid body models was conducted using experimental kinematic data from human hands.Finally,3D printed prototypes of the multi-rigid body models were created for grip performance testing.The results demonstrate that these anthropomorphic prosthetic hands are capable of executing the three common hand actions with an average single fingertip force of 1.73 N and a dual fingertip force of 3.92 N.The surface friction coefficient of the prosthetic hand is measured at 0.79,with a gripping force reaching 4.14 N.The designed anthropomorphic prosthetic hand exhibits both a human-like appearance and basic functionality while maintaining low manufacturing costs,thereby meeting both psychological needs and purchasing requirements for individuals with disabilities.The research results provide a methodological reference as well as practical insights into personalized prosthetic hand design.

关 键 词：个性化 运动学 假肢手 多刚体 模拟仿真 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]