欠驱动式手指康复训练装置的结构优化设计
A Structure Optimal Design of Training Devices for the Under？？Actuated Hand Rehabilitation

为了使欠驱动式手指康复训练装置可提供的手指关节活动范围满足训练需求,以某一连杆机构为例,通过分析运动学模型空间状态进行结构优化。首先建立机械机构与手指的简化空间模型,以关键构件及手指关节的旋转角度作为空间向量元素,求得某一机械尺寸及手指长度下所有可能的空间向量,形成空间状态集;然后通过考察空间状态集选择最佳机构尺寸,使得手指关节活动范围满足训练需求。仿真及样机佩戴测试结果表明,经过优化设计后的连杆式机构能够辅助手指在所需的关节活动范围内进行屈曲伸展运动,对手指长度变化的适应能力较强。所提结构优化方法对于欠驱动式肢体康复训练装置的结构优化设计具有一定的参考价值。
A method for the optimization of mechanical structure of the under？？actuated hand rehabilitation training system is proposed to expand the motion range of its finger joints and to satisfy training requirements and it is based on analyzing spatial states of kinematic models. Simplified spatial models for the mechanical components and fingers are established. All possible spatial vectors under some mechanical size and finger length are calculated to form a set of spatial states by regarding the rotation angles of key mechanical components and finger joints as the elements of spatial vectors. Then, the optimal mechanical sizes are determined by investigating different state sets to make the motion range of finger joints meet the needs of clinical training. A software is used to build a 3D entity model for kinematic analysis. The results from simulation and prototype wear tests show that the proposed device can assist fingers to finish flexion and extension within required motion ranges and is capable of adapting the changes in finger length. It can be concluded that the proposed method is helpful for the structure optimal design of under？？actuated limb rehabilitation training devices