弯曲气动肌肉驱动手腕康复装置的设计与研究

Design and Research of Wrist Rehabilitation Device Driven by Bending Pneumatic Muscle

以辅助患者完成腕关节背伸/屈曲以及内收/外展康复训练为核心目的,设计并组装了弯曲气动肌肉驱动手腕康复装置,完成了柔性驱动器设计及建模、外骨骼康复手套设计、控制系统设计以及安全性设计。详细阐述了弯曲收缩气动人工肌肉构造、主要制作流程,测试其运动学特性以及输出力特性,并采用解析法对弯曲收缩气动人工肌肉进行运动学建模,为弯曲收缩气动人工肌肉的精准控制奠定基础。设计并实现手腕康复装置,进行模拟康复训练,结果表明:角度误差在10%以内,装置能够有效驱动手腕进行康复训练。

A wrist rehabilitation device driven by bending pneumatic muscles was designed and implemented to assist patients in completing wrist extension/flexion and adduction/abduction rehabilitation training.The design and modeling of the flexible drive,the design of the exoskeleton rehabilitation glove,the design of the control system and the safety design have been completed.The structure and main production process of the bending and contracting pneumatic artificial muscle were elaborated,and its kinematics characteristics and output force characteristics were tested.The kinematics model of the bending and contracting pneumatic artificial muscle was established by analytical methods,laying the foundation for the precise control of the bending and contracting pneumatic artificial muscle.The wrist rehabilitation device was designed and implemented,and simulated rehabilitation training was carried out.The results showed that the angle error was within 10%,and the wrist could be effectively driven by the device for rehabilitation training.