基于FPA的气动柔性手指康复器及其控制系统

针对现有手指康复器在柔顺性、适用性和安全性方面存在的不足，基于气动柔性驱动器（FPA）设计了一种气动柔性手指康复器，以采用压缩气体驱动并以橡胶材料为主体设计的基于FPA的柔性弯曲关节代替传统的纯机械式结构。根据手指康复器仿生康复的任务要求，设计具有三大模块的控制系统：模式识别模块负责通过采集和分析手指表面肌电信号(sEMG)对主体的动作意图进行识别，并生成康复运动训练方案；角度反馈模块采用AS5045芯片实时检测康复器运动状态并将数据信息反馈至主控制器；主控制模块控制上述训练方案和康复器运动状态实时反馈信号以驱动康复器完成运动训练。实验结果表明，康复器两个关节弯曲期望值为15°和30°时的稳态误差小于0.6°，提出的控制系统能很好地完成sEMG的识别、康复器运动信息检测与反馈和康复训练任务，证明了手指康复器及其控制系统是可行的、有效的。

Flexible Pneumatic Finger Rehabilitation Apparatus Based on FPA and Its Control System

Due to the shortcomings in flexibility, applicability and safety of existing finger rehabilitation apparatus, a flexible pneumatic finger rehabilitation apparatus was designed based on FPA, flexible bending joints were adopted based on FPA as a substitue of pure mechanical structure, while it was compressed gas-driven and mainly made by rubber. The control system of the rehabilitation apparatus was designed with three modules according to the tasks required from the finger rehabilitation apparatus with bionic rehabilitation purpose: the pattern recognition module was responsible for identifying the main intention by collectting and analyzing the finger sEMG, and generating training programs of rehabilitation exercise; angle feedback module detected the motion of rehabilitation apparatus by AS5045 in real-time, and feedback data to the host controller; main control module controled the training programs above-mentioned and real-time feedback signals of the rehabilitation motions so as to complete the exercise training. The results show that the steady-state error is less than 0.6° when the bending expectations of the two joints is either 15° or 30°, the proposed control system performs well in the identification of the sEMG, in the detection and the feedback of the rehabilitation motions, as well as in the rehabilitation training, thus proves the finger rehabilitation apparatus proposed and its control system is feasible and effective.