基于气动软体驱动器的可穿戴手功能康复装置

Wearable Robot for Hand Rehabilitation Based on Pneumatic Soft Actuator

针对脑外伤和中风等引起的手部运动功能缺失患者,采用自制气动软体驱动器设计一种用于手功能恢复的可穿戴康复装置。基于Yeoh本构方程建立软体驱动器形变模型,进行静力学实验验证和有限元仿真。试制样机并搭建康复装置实验平台,进行康复装置位姿和抓取实验。结果表明:该康复装置柔顺灵活,具有较好的适应性,可用于辅助患者完成人手部分功能和康复训练,实现日常物品抓取。

A wearable rehabilitation robot for hand function recovery was designed by using self-made pneumatic soft actuator for patients with hand movement loss caused by brain injury and stroke.The deformation model of the soft actuator was established based on the Yeoh constitutive equation,and the finite simulation and static experiments were carried out.Also,the physical prototype was made and the posture and grasping experiments were done on the experimental platform.The experiment results show that the rehabilitation robot has good flexibility,compliance and adaptability,and it is suitable for rehabilitation training,or assisting patients to complete some functions of human hands to accomplish daily objects grasping.