助残抓取柔性外手指结构设计及抓取实验

Structure Design of Assisting Grasping Flexible Supernumerary Robotic Finger and Grasping Experiment

为了解决上肢损伤患者所采用的协同和康复机构较为繁杂且昂贵的问题,课题组提出了一种可穿戴柔性外手指系统,能够与伤残手臂协同动作进行抓取。设计了欠驱动外手指本体结构,通过使用柔性关节减少了驱动器数量、结构质量及机构复杂性,同时使外手指获得了对不同外形及尺寸物体的抓取适应性;建立了外手指包络抓取过程的运动学和静力学模型;设计了外手指系统样机本体及驱动、控制模块;进行了弯曲运动仿真和样机抓取实验。仿真和实验结果表明该外手指系统能够稳定地实现对不同外形物体的包络抓取运动。该柔性外手指理论建模和结构设计具有合理性,有助于上肢损伤患者对物品进行抓取。

To address the problems of cumbersome and expensive compensation and rehabilitation facilitiesused by patients with upper limb injury,a wearable flexible supernumerary robotic finger system that can collaborate with the injured arm to grasp was proposed.The structure of the underactuated supernumerary robotic finger body was designed.The number of drivers,structural weight and mechanism complexity were reduced by using flexible joints,and the grasp adaptability of the supernumerary robotic finger to objects of different shapes and sizes was obtained.The kinematics and statics models of grasping process were established,and the prototype body,driving and control modules of the supernumerary robotic finger system were designed.The bending motion simulation and prototype grasping experiments were carried out.The simulation and experimental results show that the supernumerary robotic finger system can stably achieve envelope grasping movement for objects of different shapes.The theoretical modeling and structural design of the flexible supernumerary robotic finger is rational,which is helpful for patients with upper limb injuries to grasp objects.