机器人2026，Vol.48Issue(2)：259-270,12.DOI:10.13973/j.cnki.robot.240360
形状记忆合金丝驱动的手功能康复外骨骼设计与试验研究
Design and Experimental Study on a Hand Function Rehabilitation Exoskeleton Driven by Shape Memory Alloy Wires
摘要
Abstract
To address the issues of high weight,poor human-machine compatibility,and low comfort of wearable hand function rehabilitation robots,a hand function rehabilitation exoskeleton structure driven by shape memory alloy(SMA)wires is proposed.Based on the analysis on hand physiological structures and musculoskeletal motion mechanisms,the contraction characteristics of SMA wires are combined to simulate the actuation principle of muscles and tendons.A range extender with displacement amplification pulley block based on flat SMA wire is designed,and human-machine coupling kinematic and static models are constructed.A PSO-BP-PID(particle swarm optimization-backpropagation-PID)control method based on SMA wire resistance feedback is established.A wearable hand function rehabilitation exoskeleton prototype driven by SMA wires is developed,with a mass of only 166 g.Its motion performance,grasping ability,and working temperature are experimentally tested.Experimental results show that the maximum bending angle of the exoskeleton reaches 160◦,and the average fingertip force is approximately 6.5 N.The PSO-BP-PID control demonstrates better response speed and control accuracy compared to traditional PID methods.Grasping actions can be completed on various common objects through coordinated finger movements,meeting the requirements for daily rehabilitation assistance.关键词
手功能康复外骨骼/形状记忆合金/增程机构Key words
hand function rehabilitation exoskeleton/shape memory alloy/range extender引用本文复制引用
朱显微,侯瑞麟,王扬威..形状记忆合金丝驱动的手功能康复外骨骼设计与试验研究[J].机器人,2026,48(2):259-270,12.基金项目
国家自然科学基金(52075089). （52075089）
