基于加箍型柔性气动驱动器的可穿戴式手部康复手套设计（英文）
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摘要
传统的手部康复手套通常以电机作为驱动器,具有体积大,笨重和柔顺性差的缺点。近年来,柔性气动驱动器由于其内在的柔顺性、灵活和安全等优点,被认为相对于传统的电机驱动更适合用于手部医疗康复。为了设计一个满足手部康复需求的可穿戴式康复手套,提出了一种加箍型的柔性气动驱动器。基于有限元分析方法,通过分析截面形状和几何尺寸参数对于驱动器弯曲性能的影响得到驱动器优选的结构形状和结构参数。在驱动器制作和初步测试基础上,制作改进型的加箍柔性气动驱动器。为更快的分析驱动器在充气时弯曲角度的响应,建立加箍型驱动器的数学模型;并且为了验证有限元分析、数学模型和实验结果之间的一致性以及加箍型柔性驱动器的性能提高,对驱动器进行一系列的弯曲角度和输出力的性能测试实验。此外,对设计的基于加箍型柔性驱动器的可穿戴式手部康复手套进行输出力的测试和实际佩戴体验。当压力为200 kPa时,康复手套能够输出2.5～3 N的力。研究结果表明设计的基于加箍型柔性驱动器的可穿戴式手部康复手套能够满足手部康复的需求并具有很好的应用前景。
Traditional hand rehabilitation gloves usually use electrical motor as actuator with disadvantages of heaviness, bulkiness and less compliance. Recently, the soft pneumatic actuator is demonstrated to be more suitable for hand rehabilitation compared to motor because of its inherent compliance, flexibility and safety. In order to design a wearable glove in request of hand rehabilitation, a soft hoop-reinforced pneumatic actuator is presented. By analyzing the influence of its section shape and geometrical parameters on bending performance, the preferred structure of actuator is achieved based on finite element method. An improved hoop-reinforced actuator is designed after the fabrication and initial measurement, and its mathematical model is built in order to quickly obtain the bending angle response when pressurized. A series of experiment about bending performance are implemented to validate the agreement between the finite element, mathematical and experimental results, and the performance improvement of hoop-reinforced actuator. In addition, the designed hand rehabilitation glove is tested by measuring its output force and actual wearing experience. The output force can reach 2.5 to 3 N when the pressure is 200 kPa. The research results indicate that the designed glove with hoop-reinforced actuator can meet the requirements of hand rehabilitation and has prospective application in hand rehabilitation.
Traditional hand rehabilitation gloves usually use electrical motor as actuator with disadvantages of heaviness, bulkiness and less compliance. Recently, the soft pneumatic actuator is demonstrated to be more suitable for hand rehabilitation compared to motor because of its inherent compliance, flexibility and safety. In order to design a wearable glove in request of hand rehabilitation, a soft hoop-reinforced pneumatic actuator is presented. By analyzing the influence of its section shape and geometrical parameters on bending performance, the preferred structure of actuator is achieved based on finite element method. An improved hoop-reinforced actuator is designed after the fabrication and initial measurement, and its mathematical model is built in order to quickly obtain the bending angle response when pressurized. A series of experiment about bending performance are implemented to validate the agreement between the finite element, mathematical and experimental results, and the performance improvement of hoop-reinforced actuator. In addition, the designed hand rehabilitation glove is tested by measuring its output force and actual wearing experience. The output force can reach 2.5 to 3 N when the pressure is 200 kPa. The research results indicate that the designed glove with hoop-reinforced actuator can meet the requirements of hand rehabilitation and has prospective application in hand rehabilitation.
引文
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[15]ZHANG J,WANG H,TANG J,GUO H.Modeling and design of a soft pneumatic finger for hand rehabilitation[C]//Proceeding of the 2015 IEEE International Conference on Information and Automation.Lijiang,China,2015:2460-2465.
[16]POLYGERINOS P,GALLOWAY K C,SAVAGE E,HERMAN M.Soft robotic glove for hand rehabilitation and task specific training[C]//IEEE International Conference on Robotics and Automation.Seattle,Washington,2015:1913-1919.
[17]AGARWAL G,BESUCHET N,AUDERGON B,PAIK J.Stretchable materials for robust soft actuators towards assistive wearable devices[J].Scientific Reports,2016,6(1):1-8
[18]AINLA A,VERMA M S,YANG D,WHITESIDES G M.Soft,rotating pneumatic actuator[J].Soft Robotics,2017,4(3):297-304.
[19]TONDU B,LOPEZ P.Modeling and control of McKibben artificial muscle robot actuators[J].IEEE Control Systems,2000,20(2):15-38.
[20]NORITSUGU T,KUBOTA M,YOSHIMATSU S.Development of pneumatic rotary soft actuator made of silicone rubber[J].Journal of Robotics&Mechatronics,2001,13(1):17-22.
[21]POLYGERINOS P,WANG Z,GALLOWAY K C,WOODR J,WALSH C J.Soft robotic glove for combined assistance and at-home rehabilitation[J].Robotics and Autonomous Systems,2015,73:135-143.
[22]POLYGERINOS P,WANG Z,OVERVELDE J T B,GALLOWAY K C,WOOD R S,BERTOLDI K,WALSH CJ.Modeling of soft fiber-reinforced bending actuators[J].IEEE Transactions on Robotics,201,31(3):778789.
[23]WANG Z,POLYGERINOS P,OVERVELDE J T B,GALLOWAY K C,BERTOLDI K,WALSH C J.Interaction forces of soft fiber reinforced bending actuators[J].IEEE/ASME Transactions on Mechatronics,2017,22(2):717-727.
[24]POLYGERINOS P,LYNE S,WANG Z,NICOLINI F,MOSADEGH B.Towards a soft pneumatic glove for hand rehabilitation[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Tokyo,Japan,2013:1512-1517.
[25]UDUPA G,SREEDHARAN P,DINESH P S,KIM D.Asymmetric bellow flexible pneumatic actuator for miniature robotic soft gripper[J].Journal of Robotics,2014,2014:1-11.
[26]REHMAN T,FAUDZI A,DEWI D,SUZUMORI K,RAZIFM.Design and analysis of bending motion in single and dual chamber bellows structured soft actuators[J].Jurnal Teknologi(Sciences&Engineering),2016,78:17-23.
[27]SHAPIROA Y,WOLFA A,GABORB K.Bi-bellows:Pneumatic bending actuator[J].Sensors and Actuators A:Physical,2011(11):1-11.
[28]WANG Z K,SHINICHI H.Soft gripper dynamics using a line-segment model with an optimization-based parameter identification method[J].IEEE Robotics and Automation Letters,2017,2(2):624-631.
[29]HAO Y F,WANG T M,REN Z Y,GONG Z Y,WANG H,YANG X B,GUAN S Y,WEN L.Modeling and experiments of a soft robotic gripper in amphibious environments[J].International Journal of Advanced Robotic Systems,2017,14(3):1-12(Edited by HE Yun-bin)
[2]BORBONI A,VILLAFANE J H,MULLèC,VALDES K,FAGLIA R,TAVEGGIA G,NEGRINI S.Robot-assisted rehabilitation of hand paralysis after stroke reduces wrist edema and pain:A prospective clinical trial[J].Journal of Manipulative and Physiological Therapeutics,2017,40(1):21-30.
[3]WORSNOPP T T,PESHKIN M A,COLGATE J E,KAMPER D G.An actuated finger exoskeleton for hand rehabilitation following stroke[C]//IEEE 10th International Conference on Rehabilitation Robotics.Noordwijk,Netherlands,2007:896-901.
[4]LAMBERCY O,DOVAT L,GASSERT R,BURDET E,TEO C L,MILNER T.A haptic knob for rehabilitation of hand function[J].IEEE Transactions on Neural Systems and Rehabilitation Engineering,2007,15(3):356-366.
[5]RIENER R,FREY M,PROLL T.Phantom-based multimodal interactions for medical education and training:The Munich knee joint simulator[J].IEEE Transactions on Information Technology in Biomedicine,2004,8(2):208-216.
[6]SUZUKI R,EGAWA M,YAMADA Y,NAKAMURA T.Development of a 1-DOF wearable force feedback device with soft actuators and comparative evaluation of the actual objects and virtual objects in the AR space[C]//14th International Conference on Control,Automation,Robotics&Vision.Phuket,Thailand,2016:1-6.
[7]LI J.Portable haptic feedback for training and rehabilitation[D].Stanford:Stanford University,2009.
[8]ADAMOVICH S V,FLUE G G,MATHAI A,QIU Q Y,LEWIS J,MERIANS A S.Design of a complex virtual reality simulation to train finger motion for persons with hemiparesis:a proof of concept study[J].Journal of Neuro Engineering and Rehabilitation,2009,17:6-28.
[9]CHIRI A V,VITIELLO N,GIOVACCHINI N,ROCCELLAF,VECCHI F,CARROZZA M C.Mechatronic design and characterization of the index finger module of a hand exoskeleton for post-stroke rehabilitation[J].IEEE/ASMETrans Mechatronics,2012,17(5):884-894.
[10]BOUZIT M,BURDEA G.The rutgers master II-new design force-feedback glove[J].IEEE/ASME Transactions on Mechatronics,2002,7(2):256-263.
[11]JONES C L,WANG F,MORRISON R,SARKAR N,KAMPER D G.Design and development of the cable actuated finger exoskeleton for hand rehabilitation following stroke[J].IEEE/ASME Transactions on Mechatronics,2014,19(1):131-140.
[12]LI J T,WANG S,WANG J,ZHENG R Y,ZHANG Y R,CHEN Z Y.Development of a hand exoskeleton system for index finger rehabilitation[J].Chinese Journal of Mechanical Engineering,2012,25(2):223-233.
[13]ZHANG H Y,WANG Y Q,WANG Y M,FUH J Y H,KUMAR A S.Design and analysis of soft grippers for hand rehabilitation[C]//Proceedings of the ASME 2017 12th International Manufacturing Science and Engineering Conference.Los Angeles,CA,2017:1-10.
[14]YAP H K,GOH J C H,YEOW R C H.Design and Characterization of soft actuator for hand rehabilitation application[C]//6th European Conference of the International Federation for Medical and Biological Engineering.Dubrovnik,Croatia,2014:367-370.
[15]ZHANG J,WANG H,TANG J,GUO H.Modeling and design of a soft pneumatic finger for hand rehabilitation[C]//Proceeding of the 2015 IEEE International Conference on Information and Automation.Lijiang,China,2015:2460-2465.
[16]POLYGERINOS P,GALLOWAY K C,SAVAGE E,HERMAN M.Soft robotic glove for hand rehabilitation and task specific training[C]//IEEE International Conference on Robotics and Automation.Seattle,Washington,2015:1913-1919.
[17]AGARWAL G,BESUCHET N,AUDERGON B,PAIK J.Stretchable materials for robust soft actuators towards assistive wearable devices[J].Scientific Reports,2016,6(1):1-8
[18]AINLA A,VERMA M S,YANG D,WHITESIDES G M.Soft,rotating pneumatic actuator[J].Soft Robotics,2017,4(3):297-304.
[19]TONDU B,LOPEZ P.Modeling and control of McKibben artificial muscle robot actuators[J].IEEE Control Systems,2000,20(2):15-38.
[20]NORITSUGU T,KUBOTA M,YOSHIMATSU S.Development of pneumatic rotary soft actuator made of silicone rubber[J].Journal of Robotics&Mechatronics,2001,13(1):17-22.
[21]POLYGERINOS P,WANG Z,GALLOWAY K C,WOODR J,WALSH C J.Soft robotic glove for combined assistance and at-home rehabilitation[J].Robotics and Autonomous Systems,2015,73:135-143.
[22]POLYGERINOS P,WANG Z,OVERVELDE J T B,GALLOWAY K C,WOOD R S,BERTOLDI K,WALSH CJ.Modeling of soft fiber-reinforced bending actuators[J].IEEE Transactions on Robotics,201,31(3):778789.
[23]WANG Z,POLYGERINOS P,OVERVELDE J T B,GALLOWAY K C,BERTOLDI K,WALSH C J.Interaction forces of soft fiber reinforced bending actuators[J].IEEE/ASME Transactions on Mechatronics,2017,22(2):717-727.
[24]POLYGERINOS P,LYNE S,WANG Z,NICOLINI F,MOSADEGH B.Towards a soft pneumatic glove for hand rehabilitation[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Tokyo,Japan,2013:1512-1517.
[25]UDUPA G,SREEDHARAN P,DINESH P S,KIM D.Asymmetric bellow flexible pneumatic actuator for miniature robotic soft gripper[J].Journal of Robotics,2014,2014:1-11.
[26]REHMAN T,FAUDZI A,DEWI D,SUZUMORI K,RAZIFM.Design and analysis of bending motion in single and dual chamber bellows structured soft actuators[J].Jurnal Teknologi(Sciences&Engineering),2016,78:17-23.
[27]SHAPIROA Y,WOLFA A,GABORB K.Bi-bellows:Pneumatic bending actuator[J].Sensors and Actuators A:Physical,2011(11):1-11.
[28]WANG Z K,SHINICHI H.Soft gripper dynamics using a line-segment model with an optimization-based parameter identification method[J].IEEE Robotics and Automation Letters,2017,2(2):624-631.
[29]HAO Y F,WANG T M,REN Z Y,GONG Z Y,WANG H,YANG X B,GUAN S Y,WEN L.Modeling and experiments of a soft robotic gripper in amphibious environments[J].International Journal of Advanced Robotic Systems,2017,14(3):1-12(Edited by HE Yun-bin)