刚软结合可穿戴手部康复装置设计

Design of Wearable Rigid and Soft Combined Hand Rehabilitation Devices

手部康复装置是用于手部功能恢复治疗的装置,刚性装置柔性不足、贴合性差,容易造成二次伤害;软体装置驱动力小,且复杂软体装置不易制作。为克服刚性装置与软体装置的缺点,提出了一种结合软体关节与刚性指节的可穿戴手部康复装置。分析人手的生物结构,设计软体关节结构并分析其弯曲特性,基于刚软结合设计气动手指执行器,并进行有限元应力与变形分析;完成软体硅胶关节模具和手部康复装置的制作;搭建气动手指执行器测试实验平台,测试刚软结合手指执行器的弯曲特性和指尖力,并进行手部康复装置对不同形状物体的抓取实验。结果表明所设计的刚软结合可穿戴手部康复装置可实现手部抓握等运动功能的康复训练。

Hand rehabilitation devices were used for hand function recovery treatment.Rigid devices were not flexible enough,poor fitting,and easy to cause secondary damage,and soft devices had small driving forces and the complex soft devices were not easy to make.In order to overcome the shortcomings of rigid devices and soft devices,a wearable hand rehabilitation device combining soft joints and rigid knuckles was proposed.Firstly,the biological structure of human hand was analyzed,the soft joint structure was designed and its bending characteristics were analyzed.The pneumatic finger actuator was designed based on rigid and soft combination,and finite element stress and deformation analyses were carried out.Then,the soft silicone joint mould and hand rehabilitation device were manufactured.Finally,the test platform for pneumatic finger actuators was built to test the bending characteristics and fingertip forces of the rigid and soft combined finger actuators,and hand rehabilitation devices were used to grab objects of different shapes.Results show that the designed wearable hand rehabilitation devices may realize the rehabilitation training of hand grasping and holding.