1.北京航空航天大学;2.重庆大学 生物工程学院;3.北京航空航天大学 生物与医学工程学院 生物力学与力生物学教育部重点实验室
1.Beihang University;2.College of Bioengineering,Chongqing University;3.Key laboratory for Miomechanics and Mechanobiology of Ministry of Education,School of Biological Science and Medical Engineering,Beihang University
The National Natural Science Foundation of China (General Program, Key Program, Major Research Plan)
目的 为提高手功能康复训练机器人的临床应用，改善现有刚性外骨骼康复训练机器人结构复杂、重量大、存在安全隐患等缺点，本文提出一种新型柔性可穿戴康复手套。方法 康复手套由McKibben型气动人工肌肉（pneumatic artificial muscle, PAM）驱动，并仿人手的解剖和生理结构设计了腱驱动网络，利用佩戴者自身的指骨关节来传递力和扭矩，模拟人手的正常运动，大幅度减轻了设备的重量。设计了表面肌电信号采集电路和基于肌电信号的佩戴者运动意图检测。结果 通过对该柔性康复手套的特性测量实验，实验数据表明本康复手套能够有效的协助患者完成日常动作和日常生活用品的拾取，验证了该康复手套的可行性和科学性。结论 所设计的康复手套具有重量小、易操作、舒适度高等优点，可为类似的手部康复设备的研究和设计提供参考。
Objectiv To improve the level of using rehabilitation robot for hand rehabilitation and solve these shortcomings of rigid hand rehabilitation robot. Most of these rigid system are heavy, expensive and could be harmful for patients due to their rigid mechanisms. This paper presents a new soft and wearable robotic glove using McKibben pneumatic artificial muscle. This glove is more lightweight, compact and easy to control compared with rigid hand exoskeleton robot. Methods The robotic glove is driven by McKibben pneumatic artificial muscles. The tendon drive system transmits the tension of the tendons to the fingers in a manner inspired by the human hand, for which tendons transmit muscular forces. This design pattern highly reduced the weight of the robotic glove. A sEMG collecting circuit was developed to acquire sEMG signals from forearm. User intent can be detected by measuring the sEMG of Flexor Digitorum Superficialis and Extensor Digitorum Communis on the forearm. Results The experiments showed that the robotic glove can assist people in activities of daily living. With the help of the device, subjects can grasp objects of various shapes. The feasibility and scientificity of the robotic glove was validated．Conclusions The soft and wearable robotic glove is light weight, easy to control and comfortable. It can provide a reference for the wider use of the hand rehabilitation devices.