线驱无关节手指外骨骼的运动耦合方法

A Motion Coupling Method for Tendon-driven Jointless Finger Exoskeleton

传统的无关节手指外骨骼线缆驱动方法在实施过程中会产生远端关节先于近端关节运动的错误动作顺序.为弥补该缺点,本文利用一对耦合的线缆,提出了一种面向无关节手指外骨骼的线缆驱动运动耦合方案——通过刚柔线缆的交叉使用避免了弯曲方向和伸展方向之间的运动干涉,并在保持传统无关节手指外骨骼驱动方案的简洁紧凑特点的同时使其能够输出正确的运动顺序.阐述了所提方案的工作原理,并对其进行了仿真分析;开发了实验假手并依照假手数据设计外骨骼零件,构建了实验平台,完成了运动耦合的运动学实验,验证了本文方法的正确性和可行性.

When the traditional tendon-driven scheme is applied to the jointless finger exoskeleton, the farther finger joints maybe bend prior to the nearer ones, which is a wrong motion sequence. For this problem, a tendon-driven motion coupling scheme for the jointless finger exoskeleton is proposed by using a pair of coupling tendons. Two materials with different stiffness are adopted for the coupling tendons to avoid the interference between the bending and flexing motions. With the new scheme applied, the finger exoskeleton will output humanlike motion sequence toward the adjacent finger joints, while keeping the whole structure compact and portable. The basic theory of the new coupling scheme is introduced, calculated and simulated. An experimental hand prototype is developed, and all the exoskeleton parts are designed according to the hand prototype parameters. A testing setup is developed, and the kinematic experiments with motion coupling are carried out. The validity and feasibility of the proposed scheme are fully proved by the experiment result.