基于折纸机构的上肢外骨骼

Upper Limb Exoskeleton Based on Origami Mechanism

为了进行上肢肌肉损伤类疾病康复,课题组设计了一种辅助运动与支撑的上肢外骨骼机器人。课题组基于刚性折纸的折叠特性设计出具有自锁特性的肘关节外骨骼,采用连杆机构设计肩关节外骨骼;运用D-H法对上肢外骨骼进行运动学分析,得出肘关节折纸机构自锁时的折叠角度和肩关节末端的运动位姿;基于蒙特卡洛算法求解出肩关节外骨骼的运动空间并运用MATLAB将结果可视化。应用结果表明:该上肢外骨骼能有效减轻上肢肌肉在工作中受到的压力且不对上肢运动造成影响。该上肢外骨骼具有结构简单,轻便和易于折叠和自锁的特点,满足使用要求。

In order to recover upper limb muscle injury diseases, an upper limb exoskeleton with auxiliary movement and support was designed. The self-locking elbow exoskeleton was designed based on the folding characteristics of rigid origami. The shoulder exoskeleton was designed by connecting rod mechanism. The kinematics of the upper limb exoskeleton was analyzed by D-H method, and the folding angle of the elbow origami mechanism and the motion posture of the end of the shoulder joint were obtained. The motion space of shoulder exoskeleton was solved based on Monte Carlo algorithm, and the results were visualized by MATLAB. The application results show that the upper limb exoskeleton can effectively reduce the pressure on upper limb muscles at work, and does not affect upper limb movement. The upper limb exoskeleton has the characteristics of simple structure, portability, easy folding and self-locking, and meets the use requirement.