摘要
为帮助脑卒中患者进行手部康复训练,设计了一种欠驱动连杆滑槽外骨骼。从手部运动机制和康复理论出发,在结构设计、驱动设计、控制系统设计中,进行静力学与正逆运动学分析,并进行仿真和样机实验验证,研制了基于直线电机和连杆滑槽结构的外骨骼。该外骨骼在使用驱动少、结构轻便的情况下能支持手部多个自由度的运动,提高患者穿戴该外骨骼的舒适度。
To help stroke patients doing hand rehabilitation training,an.exoskeleton was designed.Starting from the hand motion mechanism,hand rehabilitation theory,the exoskeleton based on linear motor and connecting rod chute structure was developed through the structure design,drive design,control system design,statics forward and inverse kinematics analysis,simulation and prototype experimental analysis.By underactuated design,the exoskeleton can support more freedom movement of the hand while keeping the number of actuation limited and the structure light,and improve the patients comfort of wearing the exoskeleton.
作者
王陈瑁
杨志鸿
汪涛
管小荣
WANG Chenmao;YANG Zhihong;WANG Tao;GUAN Xiaorong(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)
出处
《成组技术与生产现代化》
2022年第1期8-13,37,共7页
Group Technology & Production Modernization
基金
国家级大学生创新创业训练计划资助项目(202010288026)。
关键词
外骨骼
欠驱动
运动仿真
手功能康复
exoskeleton
under actuation
motion simulation
hand function rehabilitation
