基于柔性仿生关节的康复外骨骼机械手设计及运动性能分析

Design and Motion Performance Analysis of Rehabilitation Exoskeleton Manipulator Based on Flexible Bionic Joint

摘要: 为解决传统康复外骨骼机械手的手指关节旋转中心不一致的缺点，设计了一种基于柔性仿生关节的康复外骨骼机械手。基于欧拉伯努利梁理论及伪刚体模型，使用有限元仿真分析研究外凸圆弧形柔性铰链的刚度特性方程，提出柔性仿生关节的设计方法。对手部外骨骼进行结构设计并进行样机制作，通过实验验证其运动性能。该外骨骼机械手手指最大弯曲角度可达115°，在该角度下的指尖力可基本保持在2.7 N左右。实验结果表明，该外骨骼可以实现手指关节活动度被动训练，并可辅助抓握物品。本研究利用了柔性仿生关节解决了传统外骨骼机械手关节旋转中心不一致的问题，可用于手功能障碍患者的康复训练和日常生活辅助。

Abstract: In order to solve the problem of inconsistent rotation center of finger joint of traditional rehabilita-tion exoskeleton manipulator, a rehabilitation exoskeleton manipulator based on flexible bionic joint was designed. Based on the Euler Bernoulli beam theory and the pseudo-rigid body model, the stiffness characteristic equation of the convex arc flexible hinge is studied by finite element simula-tion, and the design method of the flexible bionic joint is proposed. The exoskeleton of the hand is designed and made into a prototype, and its motion performance is verified by experiments. The maximum bending angle of the exoskeleton manipulator finger can reach 115°, and the fingertip force at this angle can be basically maintained at about 2.7 N. The experimental results show that the exoskeleton can achieve passive training of finger joint mobility and assist in grasping objects. This study uses flexible bionic joints to solve the problem of inconsistent rotation center of tradi-tional hand exoskeleton joints, which can be used for rehabilitation training and daily life assistance for patients with hand dysfunction.