| 面向手功能康复训练的软体机器人设计 |
| |
| 引用本文： | 丛明,毕聪,王明昊,刘冬,杜宇. 面向手功能康复训练的软体机器人设计[J]. 中国机械工程, 2022, 33(8): 883-889. DOI: 10.3969/j.issn.1004-132X.2022.08.001 |
| |
| 作者姓名： | 丛明 毕聪 王明昊 刘冬 杜宇 |
| |
| 作者单位： | 1.大连理工大学机械工程学院，大连，1160242.大连大华中天科技有限公司，大连，116023 |
| |
| 基金项目： | 国家自然科学基金（61873045）；大连市科技创新基金（2019J12GX043） |
| |
| 摘 要： | 为解决现阶段软体机器人与人手贴合较差、自由度不够、驱动力小等问题,设计了一种带有双向弯曲模块和伸长模块、可实现多个自由度独立或耦合运动的软体机器人.利用有限元仿真分析方法建立了软体驱动器模型,融合多种柔性材料,保证驱动器可以提供足够大的驱动力.利用传感器实现了对弯曲特性的跟踪.实验验证表明:该软体机器人可以完成抓握训练...
|
| 关 键 词： | 软体机器人 康复训练 柔性材料 气动网络 有限元方法 |
Design of Soft Robots for Hand Function Rehabilitation Training |
| |
| CONG Ming,BI Cong,WANG Minghao,LIU Dong,DU Yu. Design of Soft Robots for Hand Function Rehabilitation Training[J]. China Mechanical Engineering, 2022, 33(8): 883-889. DOI: 10.3969/j.issn.1004-132X.2022.08.001 |
| |
| Authors: | CONG Ming BI Cong WANG Minghao LIU Dong DU Yu |
| |
| Affiliation: | 1.School of Mechanical Engineering，Dalian University of Technology，Dalian，Liaoning，1160242.Dalian Dahuazhongtian Technology Co.，Ltd.，Dalian，Liaoning，116023 |
| |
| Abstract: | In order to solve the problems such as poor fit between soft robot and human hand， insufficient DOF and low driving force， a kind of soft robot with bi-directional bending module and elongation module was designed， which might realize independent or coupled motions of multiple DOF. Using FEM analysis， a soft driver model was established and a variety of flexible materials were fused to ensure that might provide sufficient driving forces. The sensors were used to track the bending characteristics. Experimental results verify that the soft robots may complete grip training and gesture training， etc.， and meet the training requirements of patients at different rehabilitation stages. The fingertip force may reach 5.1 N， and it may play an auxiliary role in the daily hand rehabilitation training of patients. |
| |
| Keywords: | soft robot rehabilitation training flexible material pneumatic network finite element method(FEM) |
|
| 点击此处可从《中国机械工程》浏览原始摘要信息 |
|
点击此处可从《中国机械工程》下载免费的PDF全文 |
