手部外骨骼运动相容性设计综述

Review of the Kinematic Compatibility Design of Hand Exoskeletons

以人机运动相容性为关注点,对手部外骨骼设计的研究现状进行分析与综述.首先,结合人手解剖学结构与关节运动学属性的分析,简要介绍手部的主要运动学参考模型.其次,根据实现人机运动相容性的设计方法,将手部外骨骼归纳为人机关节轴线对齐、关节轴线自适应和柔顺性结构手套等3种主要类型,并扼要分析典型手部外骨骼的设计特点.最后,结合人机穿戴偏差、个体体征差异和人机关节运动属性差异等对人机运动相容性的影响,对手部外骨骼设计需要考虑的问题和后续研究进行了分析与论述.

The design arts and status of hand exoskeletons are analyzed and reviewed from the perspective of human-robot kinematic compatibility.Firstly,the main existing hand kinematic models are introduced on the basis of the analyses of the hand anatomical structure and hand joint kinematics.Secondly,according to the design methods to realize the human-robot kinematic compatibility,the hand exoskeletons are divided into three classifies including the joint axis-alignment hand exoskeletons,the joint axis selfadaptive hand exoskeletons,and the compliance glove hand exoskeletons. Moreover,the design characteristics of the typical hand exoskeletons are also briefly analyzed.Finally,the influences of the kinematic difference between human and robot joints,the individual difference and wearing offset on the human-robot kinematic compatibility are analyzed,on which the main issues in the design of hand exoskeletons and the future research are discussed and prospected.