实用型康复外骨骼机械手的机构设计与分析
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摘要
针对脑卒中患者在康复期缺乏合适手部训练装置的问题,基于耦合连杆机构可实现预定轨迹的原理,文章设计了一款实用型康复外骨骼机械手,该机械手采用单一驱动模式,可根据患者康复的情况改变训练方式,并且加入健肢训练以促进神经功能的恢复。为解决手指双自由度问题,设计了十三杆机构;依据正常人手抓握规律,优化了各杆件的尺寸和初始角度,并进行了关节角度仿真;最后通过样机的五指训练和角度测量试验,验证了该机械手的可用性和有效性。
To solve the problem that cerebral stroke patients lack proper hand training device during the rehabilitation period, a kind of practical rehabilitation hand exoskeleton was designed which was based on the principle that the coupling link mechanism could achieve the predetermined trajectory. The single driving mode was used in the exoskeleton whose training mode could be changed according to the rehabilitation situation, and the training of the healthy side limb was combined to promote the recovery of neurological function. Thirteen-bar mechanism was designed to solve the problem of double degree of freedom(DOF). The size and initial angle of each bar was optimized according to the grip rule of normal human hands and each joint angle was simulated. The exoskeleton was proved to be available and effective through the training test of five fingers and the test of angle measurement.
To solve the problem that cerebral stroke patients lack proper hand training device during the rehabilitation period, a kind of practical rehabilitation hand exoskeleton was designed which was based on the principle that the coupling link mechanism could achieve the predetermined trajectory. The single driving mode was used in the exoskeleton whose training mode could be changed according to the rehabilitation situation, and the training of the healthy side limb was combined to promote the recovery of neurological function. Thirteen-bar mechanism was designed to solve the problem of double degree of freedom(DOF). The size and initial angle of each bar was optimized according to the grip rule of normal human hands and each joint angle was simulated. The exoskeleton was proved to be available and effective through the training test of five fingers and the test of angle measurement.
引文
[1] 冯华,李瑶.根据Brunnstrom分期制定针对性康复方案对脑卒中患者康复效果的影响[J].国际神经病学神经外科学杂志,2015,42(4):316-319.
[2] 周蔚华,房显辉,黄汝成,等.温针配合康复运动治疗中风后肌痉挛40例的临床疗效[J].中国社区医师,2015(7):89-90.
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[4] 张辉,刘建华,李立.健肢功能活动对脑卒中偏瘫康复疗效的影响[J].中国康复理论与实践,2007,13(9):886-887.
[5] Festo AC & Co.KG.New scope for interaction between humans and machines [EB/OL].[2017-03-20].http://www.festo.com/group/en/cms/10231.htm.
[6] 张勤超.手部功能康复机器人机械系统的设计与研究[D].哈尔滨:哈尔滨工业大学,2011.
[7] 韦彩兰,邓晓清,黄丽华.阶段性健康教育对脑卒中偏瘫患者康复训练效果的影响[J].内科,2011,6(6):553-555.
[8] 曹文祥.基于人机工程学的虚拟人手的模型建立及运动学仿真[D].武汉:武汉理工大学,2011.
[9] 黄佳,陈洪沛,郭敏,等.脑卒中患者运动功能评定的方法及其研究进展与问题[J].中国组织工程研究,2006,10(28):120-122.
[10] 杨庆华,张立彬,阮健,等.人类手指抓取过程关节的运动规律研究[J].中国机械工程,2004,15(13):1154-1157.
[11] 骆敏舟,梅涛,卢朝洪,等.多关节欠驱动机器人手爪包络抓取稳定性分析与仿真[J].光学精密工程,2004,12(5):510-517.
[12] 梁敬红.体位干预在脑卒中患者康复中的应用效果观察[J].临床合理用药杂志,2013,6(13):55-56.
[13] 中国标准化与信息分类编码研究所.中国成年人人体尺寸GB 10000—88[S].北京:中国标准出版社,1988:1-17.
[2] 周蔚华,房显辉,黄汝成,等.温针配合康复运动治疗中风后肌痉挛40例的临床疗效[J].中国社区医师,2015(7):89-90.
[3] RAHMAN M A,AL-JUMAILY A.Design and development of a hand exoskeleton for rehabilitation following stroke[J].Procedia Engineering,2012,41:1028-1034.
[4] 张辉,刘建华,李立.健肢功能活动对脑卒中偏瘫康复疗效的影响[J].中国康复理论与实践,2007,13(9):886-887.
[5] Festo AC & Co.KG.New scope for interaction between humans and machines [EB/OL].[2017-03-20].http://www.festo.com/group/en/cms/10231.htm.
[6] 张勤超.手部功能康复机器人机械系统的设计与研究[D].哈尔滨:哈尔滨工业大学,2011.
[7] 韦彩兰,邓晓清,黄丽华.阶段性健康教育对脑卒中偏瘫患者康复训练效果的影响[J].内科,2011,6(6):553-555.
[8] 曹文祥.基于人机工程学的虚拟人手的模型建立及运动学仿真[D].武汉:武汉理工大学,2011.
[9] 黄佳,陈洪沛,郭敏,等.脑卒中患者运动功能评定的方法及其研究进展与问题[J].中国组织工程研究,2006,10(28):120-122.
[10] 杨庆华,张立彬,阮健,等.人类手指抓取过程关节的运动规律研究[J].中国机械工程,2004,15(13):1154-1157.
[11] 骆敏舟,梅涛,卢朝洪,等.多关节欠驱动机器人手爪包络抓取稳定性分析与仿真[J].光学精密工程,2004,12(5):510-517.
[12] 梁敬红.体位干预在脑卒中患者康复中的应用效果观察[J].临床合理用药杂志,2013,6(13):55-56.
[13] 中国标准化与信息分类编码研究所.中国成年人人体尺寸GB 10000—88[S].北京:中国标准出版社,1988:1-17.