Hand exoskeleton robots are a kind of hand rehabilitation training device.Traditional link-type hand exoskeleton robots usually only consider the endpoint trajectory coincidence of the distal interphalangeal joint,without considering the endpoint trajectory of the palm-phalangeal and interphalangeal joints.As a result,they cannot guarantee that the fingers can bend and stretch naturally,which poses problems in terms of comfort and safety.Based on the human-machine fusion exoskeleton structure synthesis method,the constraint equation of the human-machine structure is established,and a human-machine fusion design method is proposed,which considers the exoskeleton robot as a whole body structure with the fingers after being worn.An adaptive angle acquisition device was designed for data collection experiments,and two joint correlation functions were fitted and introduced into the human-machine structural constraint equation.The scale parameters were solved and optimized through particle swarm algorithm to complete the design of the human-machine coexisting exoskeleton robot and simulate its workspace.A prototype of the exoskeleton robot was built and experiments were conducted,showing that the machine has the characteristics of human-machine fusion,and it can fit the trajectory of the three joints well,proving the effectiveness of the design method.
关键词
人机共融/连杆型手指外骨骼机器人/关节末端轨迹/指关节关联性函数/工作空间
Key words
human-machine fusion/link-type hand exoskeleton robot/end-point trajectory of joints/correlation function of finger joints/workspace
维普
万方数据