弯曲气动肌肉驱动手腕康复装置的设计与研究-《郑州大学学报(工学版)》

文章信息/Info

Title:: Design and Research of Wrist Rehabilitation Device Driven by Bending Pneumatic Muscle

作者:: 韩坤峰; 刘艳红; 毛晓波; 张季东; 王葳; 逯鹏; 郑州大学电气工程学院;机器人感知与控制河南省工程实验室;中医药智能科学与工程技术研究中心;

Author(s):: HAN Kunfeng¹; 2; LIU Yanhong¹; 2; MAO Xiaobo¹; 3; ZHANG Jidong¹; 2; WANG Wei¹; 2; LU Peng¹; 2; 3; 1.School of Electrical Engineering, Zhengzhou University, Zhengzhou 450001, China;
2.Robot Perception and Control Henan Engineering Laboratory, Zhengzhou 450001, China; 3.Chinese Medicine Intelligent Science and Engineering Technology Research Center, Zhengzhou 450001, China

Keywords:: wrist rehabilitation; exoskeleton device; pneumatic artificial muscle; modeling

摘要:: 针对传统手腕康复训练装置采用电机驱动，柔性不足的问题，设计手腕康复外骨骼装置，辅助患者完成腕关节屈曲/背伸运动和腕关节内收/外展运动康复训练。手腕康复装置包括外骨骼康复手套、控制系统、感知系统和交互系统。外骨骼康复手套采用弯曲型气动人工肌肉作为执行机构；控制系统包括嵌入式微控制器和小型气路控制系统；感知系统通过角度传感器实时采集腕关节运动方向和角度信息；交互系统实现上位机交互和语音交互。测试结果表明，手腕康复装置能有效地驱动手腕做运动康复训练，满足系统设计要求。

Abstract:: A wrist rehabilitation device driven by bending pneumatic muscles was designed and implemented to assist patients in completing wrist extension/flexion and adduction/abduction rehabilitation training. The design and modeling of the flexible drive, the design of the exoskeleton rehabilitation glove, the design of the control system and the safety design have been completed. The structure and main production process of the bending and contracting pneumatic artificial muscle were elaborated, and its kinematics characteristics and output force characteristics were tested. The kinematics model of the bending and contracting pneumatic artificial muscle was established by analytical methods, laying the foundation for the precise control of the bending and contracting pneumatic artificial muscle. The wrist rehabilitation device was designed and implemented, and simulated rehabilitation training was carried out. The results showed that the angle error was within 10%, and the wrist could be effectively driven by the device for rehabilitation training.