考虑5指差异化的外骨骼康复机械手结构设计

Design of Exoskeleton Rehabilitation Manipulator Considering Five-Finger Differentiation

针对传统外骨骼康复机械手结构臃肿、适配性低的问题,课题组设计了一款考虑人手5指差异化的连杆滑槽式外骨骼康复机械手。课题组根据人手生物学特征设计了单根手指的结构,并通过分析各关节间的运动关系,构建了单根手指的数学模型;以机械手指关节和人手指关节的旋转中心在运动过程中始终保持重合,及人手运动特性为约束,把机械手指各杆长之和最短作为优化目标,设计了求解该模型的粒子群算法,得到满足康复训练需求且结构紧凑的手指尺寸最优解;在单指优化的基础上改变近端指节长度,保持各手指运动特性不变前提下做出5指差异化设计,经过多次算例计算后得到5指尺寸最优解;最后根据优化结果构建了样机模型,并对模型进行运动学仿真。仿真结果表明:设计的外骨骼机械手指的运动参数符合设计要求,指间运动轨迹特征符合人手运动规律。该机械手满足康复训练要求。

Aiming at the problem of bloated structure and low adaptability of traditional exoskeleton rehabilitation manipulator,a connecting rod chute exoskeleton rehabilitation manipulator considering the differentiation of five fingers of human hand was designed.According to the biological characteristics of human hand,the structure of single finger was designed,and the mathematical model of single finger was constructed by analyzing the motion relationship between joints.With the constraint that the rotation centers of the finger joint of the manipulator and the human finger joint always coincide during the movement process and the motion characteristics of the human hand,the shortest sum of the lengths of each rod of the mechanical finger was taken as the optimization goal,and the particle swarm optimization algorithm for solving the model was designed to obtain the optimal solution of the finger size that meets the needs of rehabilitation training and had a compact structure.On the basis of single finger optimization,the length of the proximal knuckle was changed,and the differential design of the five fingers was made under the premise of keeping the motion characteristics of each finger unchanged.After many examples,the optimal solution of the five fingers size was obtained.Finally,the prototype model was constructed according to the optimization results,and the kinematics simulation of the model was carried out.The results show that the motion parameters of the designed exoskeleton mechanical finger meet the design requirements,and the motion trajectory characteristics between fingers conform to the law of human hand motion and meet the requirements of rehabilitation training.