首页|一种前臂内外旋震颤抑制装置结构设计

一种前臂内外旋震颤抑制装置结构设计

扫码查看
原文链接
  • NETL
  • NSTL
  • 万方数据
针对外骨骼机器人在仿生性、便携性及人机交互性上的问题,在分析人体前臂进行内外旋过程中尺-桡骨运动机理的基础上,提出了一种利用形状记忆合金(SMA)弹簧驱动的人体前臂可穿戴的柔性外骨骼装置.首先,根据人体在发生静止性震颤时前臂肌肉中旋前圆肌、旋前方肌、旋后肌的运动机理,利用软件SolidWorks设计出了一种符合人体生物力学的外骨骼装置;然后,根据SMA弹簧收缩力与轴向拉伸长度的关系,对SMA弹簧进行了通电加热,弹簧产生的收缩力带动外骨骼装置完成对静止性震颤的被动抑制;最后,通过电机带动木质假手震动来模拟患者的发病状态,并借助Vicon动态捕捉系统记录前臂表面所贴附荧光球的运动数据.研究结果表明:前臂内外旋的角度有明显的下降,当分别将SMA弹簧拉伸至100 mm和120 mm时,其内外旋角度绝对平均值分别平均下降了45.07%和61.39%,该外骨骼装置可有效控制患者在震颤过程中的病症.该外骨骼的仿生性和柔顺性符合人体前臂的运动特性,其轻质、便携性可提高日常生活活动中的辅助效果,为上肢康复医疗领域提供新的视角和方法.
Structural design of internal and external rotation tremor suppression device for forearm
In order to solve the problems of exoskeleton robot in bio-mimicry,portability and human-computer interaction,based on the analysis of the ulnar-radius movement mechanism of the human forearm during internal and external rotation,a wearable flexible exoskeleton device of the human forearm driven by shape memory alloy(SMA)spring was proposed.Firstly,according to the movement mechanism of the pronator teres,pronator and supinator muscles in the forearm muscles when the human body static tremor occurred,an exoskeleton device conforming to human biomechanics was designed by using the software SolidWorks.Secondly,according to the relationship between the contraction force of the SMA spring and the axial tensile length,the SMA spring was energized and heated,and the contraction force generated by the spring drove the exoskeleton device to complete the passive suppression of stationary tremor.Finally,the motor was used to drive the vibration of the wooden prosthetic hand to simulate the patient's onset state,and the motion data of the fluorescent sphere attached to the surface of the forearm was recorded with the help of the Vicon dynamic capture system.The research results show that the angle of internal and external rotation of the forearm decreases significantly,and when the SMA spring is stretched to 100 mm and 120 mm,the absolute average value of the angle of internal and external rotation decreases by respectively 45.07% and 61.39%,and the exoskeleton device can effectively control the patient's symptoms during the tremor process.The bio-mimetic and flexible properties of the exoskeleton are in line with the movement characteristics of the human forearm,and its lightweight and portability can improve the auxiliary effect in daily life activities,providing new perspectives and methods for the field of upper limb rehabilitation medicine.

wearable medical equipmentwearable flexible exoskeleton devicespring drive devicetremor suppression characteristicshape memory alloy(SMA)SolidWorksbio-mimicrymotion capture

刘洪昆、侯瑞麟、袁泽浩、王扬威

展开 >

东北林业大学 机电工程学院,黑龙江 哈尔滨 150040

可穿戴医疗设备 柔性外骨骼装置 弹簧驱动装置 震颤抑制特性 形状记忆合金(SMA) SolidWorks 仿生性 运动捕捉

国家自然科学基金资助项目东北林业大学博士研究自主创新基金资助项目

520750892572023AW63

2024

10.3969/j.issn.1001-4551.2024.07.020

机电工程
浙江大学　浙江省机电集团有限公司

机电工程

CSTPCD北大核心
影响因子：0.785
ISSN：1001-4551
年,卷(期)：2024.41(7)
  • 8