人机关节自适应康复机械手的结构设计与分析  

Structure design and analysis of human-machine joint adaptive rehabilitation manipulator

作　　者：宋栓军[1] 周进良 刘臻 SONG Shuanjun;ZHOU Jinliang;LIU Zhen(School of Mechanical and Electrical Engineering,Xi’an Polytechnic University,Xi’an 710048,China)

机构地区：[1]西安工程大学机电工程学院,陕西西安710048

出　　处：《西安工程大学学报》2025年第2期57-64,74,共9页Journal of Xi’an Polytechnic University

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)。

摘　　要：针对康复训练机械手应用于不同的脑卒中患者时,人机关节转动中心不能始终保持重合、对患者手指指节长度适应性差的问题,利用人机关节转动中心自适应技术,设计了一个指长可调的康复机械手。该机械手采用平行四边形连杆结构和齿轮连杆结构,通过多电机单独驱动,实现手指的单独或协同康复训练。为保证该机械手的运动参数和轨迹符合正常人手生物学运动规律,通过构建人手与手指康复训练模块的运动学模型和运动仿真分析,对该机械手各关节的运动规律和指长适应性进行了验证。结果表明:该机械手在康复训练中能始终保持人机关节转动中心重合,实现手指的单独或协同康复训练,MCP和PIP关节康复训练最大角位移为72.2737°和83.1629°;该机械手可适应不同患者的手指长度,当近节指节长度在42~50 mm范围内变化时,PIP关节的最大角位移误差小于4.3630°,满足患者康复训练需求。A rehabilitation robotic arm with adjustable finger length was designed using the adaptive technology of human-machine joint rotation center to address the problem of the inability of the human-machine joint rotation center to always maintain coincidence and poor adaptability to the length of the patient's finger joints when applied to different stroke patients in rehabilitation training.This robotic arm adopts a parallelogram linkage structure and a gear linkage structure,and is driven separately by multiple motors to achieve individual or collaborative rehabilitation training of fingers.To ensure that the motion parameters and trajectory of the robotic arm conform to the normal biological motion laws of human hands,a kinematic model and motion simulation analysis of the human hand and finger rehabilitation training module were constructed to verify the motion laws and finger length adaptability of each joint of the robotic arm.The results show that the robotic arm can always maintain the coincidence of the rotation centers of the human-machine joints during rehabilitation training,achieving individual or collaborative rehabilitation training of fingers.The maximum angular displacement of MCP and PIP joint rehabilitation training is 72.2737°and 83.1629°,respectively.This robotic arm can adapt to different finger lengths of patients.When the length of the proximal phalanx varies within the range of 42~50 mm,the maximum angular displacement error of the PIP joint is less than 4.3630°,meeting the rehabilitation training needs of patients.

关 键 词：机械手 脑卒中 康复训练 运动学 仿真分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]