用于康复训练的分段式气动软体驱动器

针对手指康复训练中软体驱动器贴合度低、灵活性差、运动传递不准确等问题，基于仿生原理设计分段式气动软体驱动器. 通过3个具有锯齿结构半波纹管气囊实现软体驱动器的分段弯曲，嵌入柔性应变传感器实现软体驱动器本体感知. 建立半波纹管气囊弯曲变形数学模型，借助有限元分析对半波纹管气囊进行分析，研究壁厚、波纹宽度、波距和波纹数目对该气囊弯曲性能和末端输出力的影响，选取软体驱动器尺寸参数. 采用3D打印技术及失蜡铸造工艺，制作分段独立驱动的软体驱动器. 特性测试结果表明：分段式软体驱动器最大弯曲角度为302°，末端输出力为3.33 N，能够带动手指进行分关节康复训练，内嵌的柔性应变传感器可以实时监测软体驱动器弯曲状态.

Segmented pneumatic soft actuator for rehabilitation training

A segmented pneumatic soft actuator was designed based on the bionic principle for the problems of low fit, low flexibility, and inaccurate movement transmission of soft actuators in finger rehabilitation training. Segmented bending of the soft actuator was realized by three semi-bellows airbags with serrated structure, and the flexible strain sensors were embedded to achieve the proprioception of soft actuator. The bending deformation mathematical model of semi-bellows airbags were established, and the semi-bellows airbags were analyzed by finite element analysis. The influences of wall thickness, wave width, wave distance and ripple number on the airbags’ bending performance and terminal output force were studied, and the dimension parameters of soft actuator were selected. The soft actuator was fabricated using 3D printing technology and lost wax casting process. The characteristic test results of the soft actuator show that the maximum bending angle of the segmented soft actuator was 302°, and the terminal output force was 3.33 N, the finger was moved to do joint rehabilitation training, and the bending state of the soft actuator was monitored in real time through the flexible strain sensor.