SMA丝驱动的手指康复机器人设计及实验研究

Research on bionic finger rehabilitation robot actuated by shape memory alloys wires

摘要:

为了研制一种轻便、可穿戴的仿生手指康复机器人,在分析手指肌肉骨骼生物参数及致动机理的基础上,设计了一种形状记忆合金丝(Shape Memory Alloy, SMA)驱动的软体柔性手指康复机器人,建立了其运动学和力学模型。以手套为结构设计的原型,通过控制SMA丝的收缩来模拟手指肌肉肌腱的收缩,从而实现辅助手指屈曲伸展运动的功能。试验研究了手指康复机器人的运动性能和抓握性能。试验结果表明,手指柔性康复机器人最大弯曲角度接近正常人手关节角度,最大指尖力可达18N,能完成日常所需的屈曲伸展以及抓握功能。

Abstract:

In order to develop a lightweight and wearable bionic finger rehabilitation robot, a soft flexible finger rehabilitation robot actuated by shape memory alloy (SMA) wire was presented based on the analysis of the biological muscle structure and the actuation mechanism of fingers, and the kinematic and mechanical model were established. Taking gloves as the prototype of the structural design, the contraction of the muscle and tendon of fingers is simulated by controlling the contraction of the SMA wires, so as to assist the flexion and extension of fingers. The movement performance and grasping performance of the finger rehabilitation robot were studied. The experimental results show that the maximum flexion angle of the finger flexible rehabilitation robot is close to the normal hand joint angle, and the maximum fingertip force can reach 18N, which can complete the daily flexion/extension and grasping function.