外骨骼
仿生学
运动学
机制(生物学)
工程类
计算机科学
模拟
控制工程
人工智能
经典力学
认识论
物理
哲学
作者
Qiaoling Meng,Zhijia Shen,Zhiyang Nie,Qiaoling Meng,Zhiyu Wu,Hongliu Yu
出处
期刊:Applied sciences
[Multidisciplinary Digital Publishing Institute]
日期:2021-11-16
卷期号:11 (22): 10825-10825
被引量:20
摘要
This paper presents the modeling design method for a novel hybrid-driven compliant hand exoskeleton based on the human-machine coupling model for the patients who have requirements on training and assisting. Firstly, the human-machine coupling model is established based on the kinematics characteristics of human fingers and the Bernoulli beam formula. On this basis, the variable stiffness flexible hinge (VSFH) is used to drive the finger extension and the cable-driven mechanism is used to implement the movement of the finger flexion. Here, a hand orthosis is designed in the proposed hand exoskeleton to act as the base and maintain the function position of the hand for patients with hand dysfunction. Then, a final design prototype is fabricated to evaluate the proposed modeling method. In the end, a series of experiments based on the prototype is proceeded to evaluate its capabilities on stretching force for extension, bio-imitability, finger flexion capability, and fingertip force. The results show that the prototype has a significant improvement in all aspects of the ability mentioned above, and has good bionics. The proposed design method can be utilized to implement the rapid design of the hybrid-driven compliant hand exoskeleton with the changed requirements. The novel modeling method can be easily applied in personalized design in rehabilitation engineering.
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