摘要
手指外展是改善脑卒中患者手部功能最重要的运动之一,目前国内外柔性手部康复机器人的研究主要聚焦在手指的屈伸上,忽略了手指完全外展的重要性。为实现更好的康复效果,研制了一款具有手指外展辅助功能的康复机器人系统。基于热塑性聚氨酯(TPU)薄膜涂层织物设计了一种新型外展驱动器。推导出外展驱动器一般力学方程,以表征其输出力矩与几何参数和内部气压的函数关系。性能分析结果表明,该驱动器可以在较低的气压下提供足够的外展力,具有辅助手指外展的可行性。招募了10名健康受试者进行日常生活活动(ADL)实验,在肌电信号监测下,验证了外展驱动器的辅助作用。此外,提出的康复系统将手部康复机器人与多功能被动训练模式相结合,通过配套软件,为脑卒中患者提供了更高效的康复训练。
Finger abduction is one of the most important movements to improve the hand function of stroke patients.At present,the research of soft hand rehabilitation robot at home and abroad mainly focuses on finger flexion and extension,ignoring the importance of complete finger abduction.In order to achieve better rehabilitation effect,a rehabilitation robot system with finger abduction assistance is developed.A new type of abduction actuators are designed based on thermoplastic polyurethane(TPU)film coated fabric.General mechanical equations for abduction actuators are derived to characterize the functional relationship between their output torque and geometric parameters and internal air pressure.The performance analysis results show that actuators can provide sufficient abduction force at lower air pressure,which has the feasibility of assisting finger abduction.Ten healthy subjects were recruited for activities of daily living(ADL)experiments,and the auxiliary role of the abduction actuators was verified under the monitoring of electromyography signals.In addition,the proposed rehabilitation system combines hand rehabilitation robot with multi-function passive training mode,and provides a more efficient rehabilitation training for stroke patients through supporting software.
作者
葛伟
宋爱国
赖健伟
GE Wei;SONG Aiguo;LAI Jianwei(School of Automation,Nanjing University of Information Science and Technology,Nanjing 210044,China;Shenzhen Research Institute,Southeast University,Shenzhen 518063,China;School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China)
出处
《测控技术》
2023年第4期75-81,共7页
Measurement & Control Technology
基金
深圳虚拟大学园基础研究项目(2021Szvup025)
江苏省前沿引领技术基础研究专项(BK20192004)。
