欠驱动式外骨骼手指康复机器人的设计和仿真

The design and simulation of the underactuation exoskeleton finger rehabilitation robot

本文提出一种新的基于脑电信号控制的外骨骼手指康复机器人系统,该系统主要由外骨骼手指康复机器人、脑电信号系统(EEG)、肌电信号系统(EMG)、人机交互系统、电机控制单元、相关传感器和工作站组成.患者通过外界的视觉刺激产生脑电信号,工作站经过对这些信号采集和处理后传递给电机控制单元控制,并驱动电机实现穿戴在患者手上的外骨骼手指机器人运动,辅助其完成康复训练.该机器人主要采用欠驱动的方式,由安装在手背处的电机带动同步齿形带传动机构实现机器的三个关节的弯曲和伸展运动.文章主要利用UG软件对手指机器人进行设计和ADAMS软件进行运动仿真.根据机器人运动轨迹和机器人末端的运动参数曲线可以看出该手指机器人具有运动平稳,不存在运动死点等特点,且机器人能满足人体手指的运动要求,符合人体工学的设计特点,仿真实验证明能够辅助患者进行重复性康复训练.

In this paper, a novel exoskeleton finger rehabilitation robot system based on EEG signals is proposed, and the system consists of an exoskeleton finger robot, one EEG system, one human-computer interaction system, one motor control unit, some sensors and a workstation. Patients produce the EEG signals by the visual stimulation, and after the workstation collects and analyzes these signals, it is sent to the motor control unit to drive the robot motion that is fixed on the patient＇s finger to assist patient in finishing the rehabilitation training. The finger robot mainly adopts the underactuation method, and it can achieve the flexion and extension motion of three joints through the synchronous toothed belt transmission mechanism driven by the motor fixed on the back of the hand. Meanwhile, the paper adopts the UG software to design the robot and ADAMS software to the kinematic simulation. According to the robot trajectory and the movement parameters curve of the robot end-effecter, it shows that the exoskeleton finger robot motion is smooth without the motion dead point, and robot can satisfy movement requirements of the human finger, and accord with design characteristic of the ergonomic, which means that it has the ability to assist patients to implement the repeatability rehabilitation training.