基于光波导的传感驱动一体化软体康复手

Sensor Driven Integrated Software Rehabilitation Hand Based on Optical Waveguide

针对刚性手功能康复外骨骼机器人适应性差,存在安全隐患问题,该文设计了基于光波导的传感驱动一体化软体康复手控制系统,用于辅助患者手部的康复。通过顺应性融入自制柔性光纤传感器使手指弯曲角度和气腔内压力的反馈信号更加精准。其次,采用一体化多腔室手指的设计方法,使不同手指不同关节弯曲,其结构简单、易于控制,具有良好的被动柔性。然后,结合柔性光纤传感器对软体康复手进行闭环反馈控制,使手部动作更加灵活。最后,实验结果验证了基于光波导的软体手部康复机器人控制系统整体结构小型化,且柔顺性高,患者穿戴更方便。

In response to the problem of poor adaptability and safety hazards of rigid hand functional rehabilitation exoskeleton robots,this paper designs a sensing-driven integrated soft rehabilitation hand control system based on optical waveguides for aiding the rehabilitation of patients hands.It enables more accurate feedback signals for finger flexion angle and pressure within the air chamber through the compliant incorporation of a homemade flexible fibre optic sensor.Secondly,an integrated multi-chamber finger design method is used to allow different joints of different fingers to bend,which is simple in structure,easy to control and has good passive flexibility.Then,closed-loop feedback control of the soft rehabilitation hand is combined with a flexible optical fibre sensor to make the hand movements more flexible.Finally,the experimental results verify that the overall structure of the soft hand rehabilitation robot control system based on optical waveguide is miniaturised and flexible,and more convenient for patients to wear.