一种新型手部康复机器人的设计与分析

Design and Analysis of a Novel Finger Rehabilitation Robot

针对意外伤害及脑卒中等造成的手部运动功能障碍问题,设计了一种新型手部康复机器人。重点介绍了三个模块化的执行机构和串联弹性驱动器的设计。利用解析法分析机器人的运动学特性,得出其运动学方程。然后通过图像处理技术得到了食指屈曲/伸展的运动轨迹,并将采集到的关节轨迹应用到运动学中,得出康复机器人的各个驱动关节的输入,并进行SIMULINK仿真验证。仿真结果证明该康复机器人整体结构设计合理,运动学模型正确,能够满足手部康复需求,同时也为后续康复机器人柔顺性控制提供了理论依据。

To solve the hand movement disorder due to accidental injury,stroke.,etc. We designed a novel hand rehabilitation robot in it. We especially introduced the three executing structures which were modular designed and the design of the series elastic actuator of the robot. Using the analytic method we analyzed the kinematics of the robot and got the kinematic equations of the motion. In order to obtained the input of the drive joint of the robot,we analyzed the trajectory of the human index finger＇s flexion/extension movement,by using the image processing technology,and then we applied the trajectory data to the kinematic equations,finally carried out the SIMULINK simulation of the model. The result verified the rationality of the design of the rehabilitation robot,the validity of the kinematic model and proved that the robot can satisfy the need of the rehabilitation of the hand. meanwhile the result provided the theoretical basis for the subsequent compliance control of this rehabilitation robot.