现代制造工程Issue(9)：66-72,7.DOI:10.16731/j.cnki.1671-3133.2025.09.009
基于SMA的腕部外骨骼设计及其内外旋运动机理分析
SMA-based wrist exoskeleton design and its internal and external rotation movement mechanism analysis
摘要
Abstract
Aiming at the problems of exoskeleton robots in terms of bio-imitability and portability,as well as the lack of research on the internal and external rotation motion of the third degree of freedom of the wrist,a wearable wrist flexible exoskeleton device was designed based on Shape Memory Alloy(SMA)actuation based on analyses of the mechanism of muscle movement during internal and external rotation motion of the wrist driven by the forearm.A biomechanically compliant exoskeleton device was de-signed using 3D software based on the mechanism of the pronator teres,musculus pronator quadratus,and supinator muscles in the anatomical structure of the human forearm,which is driven by SMA springs to achieve the internal and external rotation movement of the wrist.The biomimetic and flexible nature of this exoskeleton device is in line with the human wrist movement characteris-tics,and its light weight and convenience can effectively assist the patients with hand function deficiency to complete more flexible daily life activities,which provides new perspectives and methods in the field of hand function rehabilitation medical treatment.关键词
形状记忆合金/内外旋运动/手功能康复/仿生外骨骼/Vicon运动捕捉Key words
Shape Memory Alloy(SMA)/internal and external rotational movements/functional hand rehabilitation/bionic exo-skeleton/Vicon motion capture分类
信息技术与安全科学引用本文复制引用
秦学,侯瑞麟,范颖豪,王银迪,王扬威..基于SMA的腕部外骨骼设计及其内外旋运动机理分析[J].现代制造工程,2025,(9):66-72,7.基金项目
国家自然科学基金资助项目(52075089) （52075089）
