西安工程大学学报2025，Vol.39Issue(2)：57-64,74,9.DOI:10.13338/j.issn.1674-649x.2025.02.007
人机关节自适应康复机械手的结构设计与分析
Structure design and analysis of human-machine joint adaptive rehabilitation manipulator
摘要
Abstract
A rehabilitation robotic arm with adjustable finger length was designed using the adap-tive technology of human-machine joint rotation center to address the problem of the inability of the human-machine joint rotation center to always maintain coincidence and poor adaptability to the length of the patient's finger joints when applied to different stroke patients in rehabilitation training.This robotic arm adopts a parallelogram linkage structure and a gear linkage structure,and is driven separately by multiple motors to achieve individual or collaborative rehabilitation training of fingers.To ensure that the motion parameters and trajectory of the robotic arm con-form to the normal biological motion laws of human hands,a kinematic model and motion simula-tion analysis of the human hand and finger rehabilitation training module were constructed to ver-ify the motion laws and finger length adaptability of each joint of the robotic arm.The results show that the robotic arm can always maintain the coincidence of the rotation centers of the hu-man-machine joints during rehabilitation training,achieving individual or collaborative rehabilita-tion training of fingers.The maximum angular displacement of MCP and PIP joint rehabilitation training is 72.273 7° and 83.162 9°,respectively.This robotic arm can adapt to different finger lengths of patients.When the length of the proximal phalanx varies within the range of 42～50 mm,the maximum angular displacement error of the PIP joint is less than 4.363 0°,meeting the rehabilitation training needs of patients.关键词
机械手/脑卒中/康复训练/运动学/仿真分析Key words
manipulator/stroke/rehabilitation training/kinematics/simulation analysis分类
计算机与自动化引用本文复制引用
宋栓军,周进良,刘臻..人机关节自适应康复机械手的结构设计与分析[J].西安工程大学学报,2025,39(2):57-64,74,9.基金项目
国家自然科学基金(72001166) （72001166）
陕西省重点研发计划项目(2023-YBGY-349) （2023-YBGY-349）
