基于形状记忆合金驱动的手部康复外骨骼设计与研究  

Design and Study of Hand Rehabilitation Exoskeleton Driven by Shape Memory Alloy

作　　者：高祝欢 黄家才[2] 王志亮[1] GAO Zhuhuan;HUANG Jiacai;WANG Zhiliang(School of Mechanical Engineering,Nanjing Institute of Technology,Nanjing 211167,China;School of Automation,Nanjing Institute of Technology,Nanjing 211167,China)

机构地区：[1]南京工程学院机械工程学院,江苏南京211167 [2]南京工程学院自动化学院,江苏南京211167

出　　处：《南京工程学院学报(自然科学版)》2024年第4期67-71,共5页Journal of Nanjing Institute of Technology(Natural Science Edition)

摘　　要：针对手部康复外骨骼结构复杂且质量大的问题,对手部肌肉运动机理进行研究,利用基于形状记忆合金电阻反馈的积分分离PID控制算法,研制手部康复外骨骼初代样机,进行样机控制手指弯曲角度及抓握物体试验.结果表明,基于形状记忆合金驱动的手部康复外骨骼能够实现带动手指远端指关节、近端指关节以及掌骨关节达到预设角度的目标,完成辅助日常抓握物品的操作.积分分离PID控制算法相较于传统PID算法,能够在误差较大时消除积分项参数的滞后影响,迅速减少误差,增大控制效率.In light of the challenges presented by the intricate structure and substantial weight of hand rehabilitation exoskeletons,this study aimed to investigate the mechanisms underlying the muscle movement of the hand.Utilizing an integral-separated PID control algorithm based on shape memory alloy resistance feedback,a prototype for a hand rehabilitation exoskeleton was developed.This prototype was evaluated for its effectiveness in controlling finger flexion angles and grasping objects.The results demonstrated that the hand rehabilitation exoskeleton,powered by shape memory alloys,could effectively achieve predetermined angles at the distal interphalangeal joint,proximal interphalangeal joint,and metacarpophalangeal joint.The system effectively aided in daily object grasping tasks.Notably,in comparison to traditional PID algorithms,the integral-separated PID control algorithm demonstrated a capacity to mitigate lag effects associated with integral parameters during significant error occurrences,thereby rapidly reducing errors and enhancing the overall control efficiency.

关 键 词：形状记忆合金 手指功能康复 软体外骨骼 积分分离PID 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]