兼顾多动作与轻量化的仿生假肢手设计创成

Design and Fabrication of a Bionic Prosthetic Hand with Multi-Motions and Light Weight

假肢手的动作数量与轻量化之间存在矛盾关系,为兼顾两者之间的平衡,满足假肢手多动作和轻量化的要求,该研究通过分析人手的16种日常抓取动作,设计了一种合理的电机驱动结构。该结构在四指中应用了多关节同时屈曲传动,在拇指中应用了定轨迹适应性传动,掌骨使用可自动切换为弧面和平面的对称弹性串联驱动式传动,以及配置五指的自动伸展,将这些机能融合在假肢手中,仅用3个电机实现了11种假肢手动作,达到了132.1 g的轻量化设计。该文还通过肌电信号结合神经网络算法,实现了假肢手直觉控制,并验证了其具有良好的抓取稳定性和操作性。

It is still a challenge to design a hand prosthesis with a consideration of multi-motions and light weight.In this paper,by analyzing 16 commonly-used motions of human hands,a trade-off plan between weight saving and the number of motions of a hand prosthesis is studied.We determine the functions to be implemented as a constant interlock mechanism of four fingers.An adaptive mechanism is applied for the thumb,and the symmetric series elastic actuator is used for the arching of metacarpal.With such a design,a prosthetic hand was designed just using three motors embedded in the palm,which has weight of 132.1 g and could perform 11 motions.The grasping stability and operability of the hand prosthesis were confirmed with intuitive myoelectric control based on a neural network algorithm in the subject experiments.