实用型康复外骨骼机械手的机构设计与分析

Mechanism design and analysis on a practical exoskeleton for hand rehabilitation

针对脑卒中患者在康复期缺乏合适手部训练装置的问题,基于耦合连杆机构可实现预定轨迹的原理,文章设计了一款实用型康复外骨骼机械手,该机械手采用单一驱动模式,可根据患者康复的情况改变训练方式,并且加入健肢训练以促进神经功能的恢复。为解决手指双自由度问题,设计了十三杆机构;依据正常人手抓握规律,优化了各杆件的尺寸和初始角度,并进行了关节角度仿真;最后通过样机的五指训练和角度测量试验,验证了该机械手的可用性和有效性。

To solve the problem that cerebral stroke patients lack proper hand training device during the rehabilitation period, a kind of practical rehabilitation hand exoskeleton was designed which was based on the principle that the coupling link mechanism could achieve the predetermined trajectory. The single driving mode was used in the exoskeleton whose training mode could be changed according to the rehabilitation situation, and the training of the healthy side limb was combined to promote the recovery of neurological function. Thirteen-bar mechanism was designed to solve the problem of double degree of freedom(DOF). The size and initial angle of each bar was optimized according to the grip rule of normal human hands and each joint angle was simulated. The exoskeleton was proved to be available and effective through the training test of five fingers and the test of angle measurement.