面向手功能康复训练的软体机器人设计

Design of Soft Robots for Hand Function Rehabilitation Training

为解决现阶段软体机器人与人手贴合较差、自由度不够、驱动力小等问题,设计了一种带有双向弯曲模块和伸长模块、可实现多个自由度独立或耦合运动的软体机器人。利用有限元仿真分析方法建立了软体驱动器模型,融合多种柔性材料,保证驱动器可以提供足够大的驱动力。利用传感器实现了对弯曲特性的跟踪。实验验证表明:该软体机器人可以完成抓握训练、手势训练等,满足患者不同康复阶段的训练要求,指尖力可达到5.1 N,可对患者日常的手部康复训练运动起到辅助作用。

In order to solve the problems such as poor fit between soft robot and human hand,insufficient DOF and low driving force,a kind of soft robot with bi-directional bending module and elongation module was designed,which might realize independent or coupled motions of multiple DOF.Using FEM analysis,a soft driver model was established and a variety of flexible materials were fused to ensure that might provide sufficient driving forces.The sensors were used to track the bending characteristics.Experimental results verify that the soft robots may complete grip training and gesture training,etc.,and meet the training requirements of patients at different rehabilitation stages.The fingertip force may reach 5.1 N,and it may play an auxiliary role in the daily hand rehabilitation training of patients.