| 邓豪* **,Dannangoda Gamage Kanishka Madusanka*,熊璟*,夏泽洋*.用千手部运动功能康复的纤维强化型并联腔道式软体驱动器设计[J].高技术通讯(中文),2021,31(3):270~278 |
| 用千手部运动功能康复的纤维强化型并联腔道式软体驱动器设计 |
| Design of a fiber-reinforced parallel cavity-type soft actuator for hand movement function rehabilitation |
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| DOI：10.3772/j.issn.1002-0470.2021.03.007 |
| 中文关键词: 软体驱动器(SPA)； 手部运动功能康复；纤维强化； 并联腔道；复合运动 |
| 英文关键词: soft pneumatic actuator (SPA), hand movement function rehabilitation, fiber-reinforced, parallel cavity, complex movement |
| 基金项目: |
| 作者 | 单位 | | 邓豪* ** | | | Dannangoda Gamage Kanishka Madusanka* | | | 熊璟* | | | 夏泽洋* | |
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| 中文摘要: |
| 为解决当前单一的弯曲／ 伸展辅助运动的软体康复手套不能提供手部完整的运
动动作支持，对脑卒中后肌张力异常导致的手部运动障碍康复效果欠佳，设计了一种新的 纤维强化并联腔道式软体驱动器(SPA)结构，该结构能够在三路组合压力驱动下实现三维方向致动，实现 对手部伸展／ 弯曲、外展／内收、对掌／复位及其复合动作的支持。 通过对手部基本动作元的分析，设计了新的驱动器结构，利用有限元工具对设计参数进行了验证，并建立了运动学描述模型；给出了新驱动器的制备方法，并对制备的新驱动器进行了加载测试和软体康复手套样机操作测试。 测试结果表明，所设计的驱动器能够实现复合运动模式下的多指协同动作，支持手部运动多模式的辅助康复，并显著提升患者手部敏捷交互操作能力。 |
| 英文摘要: |
| To solve the issue that the existing soft rehabilitation gloves only with flexion/ extension function cannot provide full range motion support, which is not good for the rehabilitation of hand movement disorders caused by abnormal muscle tone after stroke. A new fiber-reinforced parallel cavity-type soft pneumatic actuator (SPA) is designed. The new SPA can realize three-dimensional actuation under 3-channel pressures, supporting complex motion of ex-tension/flexion, abduction/ adduction and adduction/ abduction. In this research, first, based on the analysis of ac-tion elements of human hand, a SP A structure is designed, then design parameters are verified using a finite ele-ment analysis tool and kinematic modeling is also established. Then, the preparation method of SPA is given. Load tests of SP A and manipulation tasks of a fabricated soft glove are conducted. The results show that a glove with the designed SP As can realize cooperative finger motions under complex actuation mode, and supports full range of fin-ger motion assistance, which significantly improves patients' manipulation dexterity. |
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