用于手部运动功能康复的纤维强化型并联腔道式软体驱动器设计

Design of a fiber-reinforced parallel cavity-type soft actuator for hand movement function rehabilitation

为解决当前单一的弯曲/伸展辅助运动的软体康复手套不能提供手部完整的运动动作支持,对脑卒中后肌张力异常导致的手部运动障碍康复效果欠佳,设计了一种新的纤维强化并联腔道式软体驱动器(SPA)结构,该结构能够在三路组合压力驱动下实现三维方向致动,实现对手部伸展/弯曲、外展/内收、对掌/复位及其复合动作的支持。通过对手部基本动作元的分析,设计了新的驱动器结构,利用有限元工具对设计参数进行了验证,并建立了运动学描述模型;给出了新驱动器的制备方法,并对制备的新驱动器进行了加载测试和软体康复手套样机操作测试。测试结果表明,所设计的驱动器能够实现复合运动模式下的多指协同动作,支持手部运动多模式的辅助康复,并显著提升患者手部敏捷交互操作能力。

To solve the issue that the existing soft rehabilitation gloves only with flexion/extension function cannot provide full range motion support,which is not good for the rehabilitation of hand movement disorders caused by abnormal muscle tone after stroke.A new fiber-reinforced parallel cavity-type soft pneumatic actuator(SPA) is designed.The new SPA can realize three-dimensional actuation under 3-channel pressures,supporting complex motion of extension/flexion,abduction/adduction and adduction/abduction.In this research,first,based on the analysis of action elements of human hand,a SPA structure is designed,then design parameters are verified using a finite element analysis tool and kinematic modeling is also established.Then,the preparation method of SPA is given.Load tests of SPA and manipulation tasks of a fabricated soft glove are conducted.The results show that a glove with the designed SPAs can realize cooperative finger motions under complex actuation mode,and supports full range of finger motion assistance,which significantly improves patients’ manipulation dexterity.