一种外骨骼式手功能康复训练器的研究

Study on an Exoskeleton Hand Function Training Device

基于正常人手指结构与运动仿生原理,对人体手部生物学特性进行分析,设计了一种可用于脑卒中或创伤后手功能康复治疗的外骨骼式手功能康复训练器。该训练器包括外骨骼机械结构和肌电控制系统,具有可适应不同人手指长度的调节机构,通过采集使用者前臂肌电对外骨骼机构的运动状态进行控制,从而驱动使用者的手指进行屈曲/伸展康复训练。最后通过机构仿真实验和实验样机实验验证了训练器的机械结构仿生性、力学性能和训练效果。

Based on the structure and motion bionic principle of the normal adult fingers,biological characteristics of human hands were analyzed,and a wearable exoskeleton hand function training device for the rehabilitation of stroke patients or patients with hand trauma was designed.This device includes the exoskeleton mechanical structure and the electromyography（EMG）control system.With adjustable mechanism,the device was capable to fit different finger lengths,and by capturing the EMG of the users＇ contralateral limb,the motion state of the exoskeleton hand was controlled.Then driven by the device,the user＇s fingers conducting adduction/abduction rehabilitation training was carried out.Finally,the mechanical properties and training effect of the exoskeleton hand were verified through mechanism simulation and the experiments on the experimental prototype of the wearable exoskeleton hand function training device.