手指康复训练刚柔复合双向气动致动器设计  

Design of Rigid-Flexible Composite Bidirectional Pneumatic Actuator for Finger Rehabilitation Training

作　　者：刘臻 宋栓军[1] 周进良 尚长伟 赵月 LIU Zhen;SONG Shuanjun;ZHOU Jinliang;SHANG Changwei;ZHAO Yue(School of Mechanical and Electrical Engineering,Xi'an Palytechnic University,Xi'an 710600,China)

机构地区：[1]西安工程大学机电工程学院,陕西西安710600

出　　处：《轻工机械》2025年第2期1-9,19,共10页Light Industry Machinery

基　　金：国家自然科学基金(72001166);陕西省重点研发计划项目(2023-YBGY-349);2024年西安工程大学大学生创新创业训练计划项目(202410709021)。

摘　　要：针对现有卒中手部偏瘫患者在手指康复训练过程中使用的刚性致动器自身质量大,运动范围小,与人手贴合性较差,及柔性致动器制作过程复杂且缺乏稳定的问题,课题组设计了一款用于手指康复训练的刚柔复合双向气动致动器。将关节设计为柔性结构,指节及接口设计为刚性结构;为增强柔性关节的承载能力,提高弯曲过程中的稳定性,设计了分割式矩形气室结构,柔性关节可通过调节正负气压实现手指的双向运动;为减少局部应力集中的问题,设计了中空刚性指节结构,通过刚性接口将刚性指节与柔性关节相连。有限元仿真结果表明正负气压与致动器变形量及弯曲角度呈正相关;气体流场分析表明致动器在进行气压驱动时内部较为稳定;通过制作浇筑模具简化了柔性关节的制作流程。该刚柔复合双向气动致动器在减小装置整体质量的同时提高了手指训练时的舒适性与运动空间的灵活性。Aiming at the problems that the existing rigid actuators used in the process of finger rehabilitation training for stroke patients with hand hemiplegia had large mass of their own,small range of motion,poor fit to the human hand,and the flexible actuators were complicated to make and lack of stability,a rigid-flexible composite bidirectional pneumatic actuator for finger rehabilitation training was designed.The joint was designed as a flexible structure,and the knuckle and interface were designed as a rigid structure.In order to enhance the bearing capacity and stability of flexible joint during bending,a segmented rectangular air chamber structure was designed.The flexible joint could realize bidirectional finger movement by adjusting the positive and negative air pressure.In order to reduce the problem of local stress concentration,a hollow rigid knuckle structure was designed to connect the rigid knuckle to a flexible joint through a rigid interface.The finite element simulation results show that positive and negative air pressures are positively correlated with the amount of actuator deformation and bending angle;Air flow field analysis show that the pneumatic actuator is internally stable;Making cast molds simplifies the process of making flexible joints.The rigid-flexible composite bidirectional pneumatic actuator reduces the overall mass of the device while increasing the comfort and flexibility of the movement space during finger training.

关 键 词：致动器 手指康复训练 刚柔复合 双向气动 矩形气室 

分 类 号：TH112[机械工程—机械设计及理论]