《中国康复理论与实践》

《中国康复理论与实践》 ›› 2013, Vol. 19 ›› Issue (05): 412-415.

• 论文 • 上一篇    下一篇

外骨骼式手功能康复训练器结构设计

李继才，官龙，胡鑫，喻洪流   

  1. 上海理工大学生物力学与康复工程研究所，上海市200093。
  • 收稿日期:2013-03-18 修回日期:2013-04-01 出版日期:2013-05-25 发布日期:2013-05-25
  • 通讯作者: 喻洪流

Structure Design of Exoskeleton Device for Rehabilitation of Hands

LI Ji-cai, GUAN Long, HU Xin, et al.   

  1. Institute of Biomechanics and Rehabilitation Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China
  • Received:2013-03-18 Revised:2013-04-01 Published:2013-05-25 Online:2013-05-25

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摘要： 目的设计一种用于手功能障碍康复训练的可穿戴外骨骼式机械装置。方法根据手指关节结构与运动仿生原理，机械包括穿戴式手指外骨骼机构及微电机驱动机构。在建立该机械装置三维模型的基础上，利用运动分析软件对所设计的机构进行运动仿真分析。结果和结论所设计的训练器结构紧凑、轻便，外骨骼手指机构可以在0～67°范围正常运动，运动过程中无干涉现象。仿真实验数据表明，该机械装置能很好地完成规划的训练动作，在运动学和力学性能上均满足设计要求。

关键词: 外骨骼, 手功能, 康复训练, 运动仿真

Abstract: Objective To design an exoskeleton mechanical device for hand dysfunction rehabilitation. Methods Based on the bionic　principles of the motion and the structure of finger joints, a micro exoskeleton mechanical structure with multi-joint fingers and multi-DOF　motion was established, which included wearable finger exoskeleton and micro-motor drive mechanism. With the motion analysis software,the motion simulation analysis of the design was carried out on the basis of the three-dimensional model of the mechanical device. Results　and Conclusion The structure of training device is compact and light, and the exoskeleton finger mechanism can move normally in the　range of 0～67° without interference. Simulation data show that the mechanical device can complete planning exercises, and meet the design　requirements of kinematics and mechanical properties.

Key words: exoskeleton, hand function, rehabilitation exercise, motion simulation