现代制造工程Issue(6)：67-76,59,11.DOI:10.16731/j.cnki.1671-3133.2026.06.008
基于气动肌腱的可穿戴模块化柔性上肢康复机器人与控制系统设计
Design of wearable modular flexible upper limb rehabilitation robot and its control system based on pneumatic tendon
摘要
Abstract
Aiming at the problems of relatively fixed structure and lack of flexible reconfigurability of upper limb rehabilitation ro-bots at home and abroad,a wearable modular flexible upper limb rehabilitation robot based on pneumatic tendon was designed.The device realized flexible rehabilitation goals through the combination of flexible power module and flexible fixed module.Firstly,in order to overcome the problem of high nonlinear degree of pneumatic tendon,a pneumatic tendon tension test bench was designed,and the coupling model between pneumatic tendon tension,intracavity pressure and contraction was obtained through experiments.Then,the kinematic and dynamic model of the device was established,and the control system was built by Simulink software,and the co-simulation and optimization was carried out with Adams software.Then,STM32 microcontroller unit was used to build the hardware circuit of each module of the control system.Finally,the physical prototype was built and the reha-bilitation data was collected and analyzed by the electromyogram sensor,which can achieve the expected active/passive rehabilita-tion goals and verify the effectiveness of the robot.关键词
上肢康复机器人/气动肌腱/结构设计/控制系统/柔性Key words
upper limb rehabilitation robot/pneumatic tendon/structural design/control system/flexibility分类
信息技术与安全科学引用本文复制引用
朱凌飞,郑坤明,张秋菊,顾文俊..基于气动肌腱的可穿戴模块化柔性上肢康复机器人与控制系统设计[J].现代制造工程,2026,(6):67-76,59,11.基金项目
国家自然科学基金青年科学基金项目(52205015) （52205015）
江南大学2025年本科教育教学改革研究项目(JG20250111) （JG20250111）
江南大学2025年校级一流本科课程(智慧课程)(《机器人学基础》)项目(1332050205251030) （智慧课程）
江苏省"双创博士"人才项目(JSSCBS20210859) （JSSCBS20210859）
中央高校基本科研业务费专项资金项目(JUSRP121044) （JUSRP121044）
