面向食指康复的sEMG控制SMA驱动的外骨骼机器人  

sEMG-controlled SMA-driven Exoskeleton Robot for Rehabilitation of Index Finger

作　　者：武凯 李敦超 张佳琦[2] WU Kai;LI Dunchao;ZHANG Jiaqi(Shanxi Jiangyang Chemical Co.,Ltd.,Taiyuan 030041,China;Shenyang Ligong University,Shenyang 110159,China)

机构地区：[1]山西江阳化工有限公司,太原030041 [2]沈阳理工大学机械工程学院,沈阳110159

出　　处：《沈阳理工大学学报》2025年第3期53-59,共7页Journal of Shenyang Ligong University

基　　金：辽宁省教育厅高等学校基本科研项目(JYTQN2023064)。

摘　　要：为提高食指康复运动的辅助效果,提出一种基于肌电信号控制的双自由度外骨骼机器人。研究中引入表面肌电信号(surfaceelectromyography,sEMG)控制方法,构建了双自由度耦合且通过形状记忆合金(shapememoryalloys,SMA)丝驱动的机械结构,设计了手指位移放大机构。通过运动角度范围实验、压力实验及肌电信号强度分析实验验证外骨骼机器人的性能,结果显示,外骨骼机器人左右摆动角度最大范围为-19.8°~18.9°,掌骨关节屈曲角度最大范围为9.5°~28.9°,近指关节最大屈曲角度为38.2°在外骨骼机器人辅助下,手部受力最大为3.8N,处于安全阈值以内。本文提出的外骨骼机器人具备良好的安全性和动作执行性能,能够有效改善手部运动障碍。A dual-degree-of-freedom exoskeleton robot based on myoelectric signal control is proposed in order to improve the assisting effect of index finger rehabilitation exercise.In the study,a surface electromyographic signal(sEMG)control method was introduced,a mechanical structure coupled in two degrees of freedom and driven by shape memory alloy(SMA)wires is constructed,and a finger displacement amplification mechanism was designed.The performance of the exoskeleton robot was verified by motion angle range experiments,pressure experiments and EMG signal strength analysis experiments.The results show that the maximum range of left and right motion angles of the exoskeleton robot is-19.8°~18.9°,the maximum range of flexion angles of the metacarpophalangeal joints is 9.5°~28.9°,the maximum flexion angle of the proximal phalangeal joints is 38.2°,and the maximum force of the hand with the assistance of the exoskeleton robot is 3.8 N,which is within the safety threshold value.The exoskeleton robot proposed in this paper possesses good safety and motion execution performance and can effectively improve hand movement disorders.

关 键 词：食指康复 双自由度外骨骼机器人 表面肌电信号 形状记忆合金 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]