Design of Wearable Rigid and Soft Combined Hand Rehabilitation Devices

doi:10.3969/j.issn.1004-132X.2021.08.007

Abstract

Abstract: Hand rehabilitation devices were used for hand function recovery treatment. Rigid devices were not flexible enough, poor fitting, and easy to cause secondary damage, and soft devices had small driving forces and the complex soft devices were not easy to make. In order to overcome the shortcomings of rigid devices and soft devices, a wearable hand rehabilitation device combining soft joints and rigid knuckles was proposed. Firstly, the biological structure of human hand was analyzed, the soft joint structure was designed and its bending characteristics were analyzed. The pneumatic finger actuator was designed based on rigid and soft combination, and finite element stress and deformation analyses were carried out. Then, the soft silicone joint mould and hand rehabilitation device were manufactured. Finally, the test platform for pneumatic finger actuators was built to test the bending characteristics and fingertip forces of the rigid and soft combined finger actuators, and hand rehabilitation devices were used to grab objects of different shapes. Results show that the designed wearable hand rehabilitation devices may realize the rehabilitation training of hand grasping and holding.

Key words: , soft rehabilitation device, rigid and soft combination, soft joint, pneumatic network

摘要： 手部康复装置是用于手部功能恢复治疗的装置，刚性装置柔性不足、贴合性差，容易造成二次伤害；软体装置驱动力小，且复杂软体装置不易制作。为克服刚性装置与软体装置的缺点，提出了一种结合软体关节与刚性指节的可穿戴手部康复装置。分析人手的生物结构，设计软体关节结构并分析其弯曲特性，基于刚软结合设计气动手指执行器，并进行有限元应力与变形分析；完成软体硅胶关节模具和手部康复装置的制作；搭建气动手指执行器测试实验平台，测试刚软结合手指执行器的弯曲特性和指尖力，并进行手部康复装置对不同形状物体的抓取实验。结果表明所设计的刚软结合可穿戴手部康复装置可实现手部抓握等运动功能的康复训练。

关键词: 软体康复装置, 刚软结合, 软体关节, 气动网络

CLC Number:

TH122

LIU Dong, WANG Minghao, BI Cong, SHUI Shengcai, CONG Ming, DU Yu. Design of Wearable Rigid and Soft Combined Hand Rehabilitation Devices[J]. China Mechanical Engineering, 2021, 32(08): 930-937.

刘冬, 王明昊, 毕聪, 水生财, 丛明, 杜宇. 刚软结合可穿戴手部康复装置设计[J]. 中国机械工程, 2021, 32(08): 930-937.

References

［1］赵芳. 软体外骨骼手部康复机器人的研究［D］. 天津:天津理工大学, 2016.

ZHAO Fang. Research on Soft Exoskeleton Hand Rehabilitation Robot ［D］.Tianjin:Tianjin University of Technology, 2016.

［2］昌赢, 孟青云, 喻洪流. 手部康复机器人技术研究进展［J］. 北京生物医学工程, 2018, 37(6):104-110.

CHANG Ying, MENG Qingyun, YU Hongliu. Research Progress of Hand Rehabilitation Robot Technology［J］. Beijing Biomedical Engineering, 2018, 37 (6):104-110.

［3］CALDWELL D G, TSAGARAKIS N G, IQBAL J. Four-fingered Lightweight Exoskeleton Robotic Device Accommodating Different Hand Sizes［J］. Electronics Letters, 2015, 51(12):888-890.

［4］CHIRI A, GIOVACCHINI F, VITIELL N, et al. HANDEXOS:towards an Exoskeleton Device for the Rehabilitation of the Hand ［C］∥2009 IEEE/RSJ International Conference on Intelligent Robots and Systems. St. Louis, 2009:1106-1111.

［5］王杰, 管声启, 夏齐霄. 手指康复外骨骼机器人的结构优化设计［J］. 中国机械工程, 2018, 29(2):224-229.

WANG Jie, GUAN Shengqi, XIA Qixiao.Structural Design of Finger Rehabilitation Exoskeleton Robots［J］. China Mechanical Engineering, 2018, 29(2):224-229.

［6］CONTI R, MELI E, RIDOLFI A. A Novel Kinematic Architecture for Portable Hand Exoskeletons［J］. Mechatronics, 2016, 35:192-207.

［7］王田苗, 郝雨飞, 杨兴帮, 等. 软体机器人：结构、驱动、传感与控制［J］. 机械工程学报, 2017, 53(13):1-12.

WANG Tianmiao, HAO Yufei, YANG Xingbang, et al. Soft Robotics：Structure, Actuation, Sensing and Control［J］. Journal of Mechanical Engineering, 2017, 53(13):1-12.

［8］POLYGERINOS P, ZHENG W, KEVIN C, et al. Soft Robotic Glove for Combined Assistance and At-home Rehabilitation［J］. Robotics and Autonomous Systems, 2015,73:135-143.

［9］ZHAO H, JALVING J, HUANG R, et al. A Helping Hand:Soft Orthosis with Integrated Optical Strain Sensors and EMG Control［J］. IEEE Robotics & Automation Magazine ,2016, 23:55-64.

［10］IN H, KANG B B, SIN M K, et al. Exo-Glove:a Wearable Robot for the Hand with a Soft Tendon Routing System［J］. IEEE Robotics & Automation Magazine, 2015, 22(1):97-105.

［11］YAP K, KAMALDIN N, LIM J H, et al. A Magnetic Resonance Compatible Soft Wearable Robotic Glove for Hand Rehabilitation and Brain Imaging［J］. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2017, 25(6):782-793.

［12］管瑞阳, 王璐, 魏伟, 等. 一种用于康复机器人手指的软体致动器设计［J］. 安徽工业大学学报(自然科学版), 2018, 35(4):348-351.

GUAN Ruiyang, WANG Lu, WEI Wei , et al. Design of a New Soft Actuator for Rehabilitation Robot Finger［J］. Journal of Anhui University of Technology(Natural Science), 2018, 35(4):348-351.

［13］张珩. 人体手部的建模与分析［J］.计算机仿真, 1998(2):10-13.

ZHANG Heng. Modeling and Analysis of Human Hand ［J］. Computer Simulation,1998(2):10-13.

［14］WANG J, LI J, ZHANG Y, et al. Design of an Exoskeleton for Index Finger Rehabilitation［C］∥IEEE Engineering in Medicine and Biology Society. Minneapolis, 2009:5957-5960.

［15］袁路林. 软体外骨骼康复手系统设计与实现［D］. 武汉:华中科技大学, 2018.

YUAN Lulin. Design and Implement of a Soft Exoskeleton Robotic System for Hand Rehabilitation ［D］. Wuhan:Huazhong University of Science and Technology, 2018.

［16］TOZBURUN S, FRIED N M. Design of a Compact Laparoscopic Probe for Optical Stimulation of the Cavernous Nerves ［C］∥Proceedings of SPIE, Photonic Therapeutics and DiagnosticsⅤ. San Jose, 2009:175-178.

［17］孙沂琳, 张秋菊, 陈宵燕. 气动软体驱动器设计与建模［J］. 食品与机械, 2018, 34(11):107-111.

SUN Yilin, ZHANG Qiuju, CHEN Xiaoyan. Design and Modeling of Pneumatic Soft Actuator［J］. Food & Machinery, 2018, 34(11):107-111.

［18］SUN Z S, GUO Z H, TANG W. Design of Wearable Hand Rehabilitation Glove with Soft Hoop-reinforced Pneumatic Actuator［J］. Journal of Central South University, 2019, 26:106-119.

［19］蒋国平, 孟凡昌, 申景金,等. 软体机器人运动学与动力学建模综述［J］. 南京邮电大学学报(自然科学版), 2018, 38(1):20-26.

JIANG Guoping, MENG Fanchang, SHEN Jingjin, et al. Review of Kinematics and Dynamics Modeling of Soft Robot ［J］. Journal of Nanjing University of Posts and Telecommunications(Natural Science Edition), 2018, 38(1):20-26.

［20］王超. 线驱动硅胶软体机械臂建模与控制［D］. 上海：上海交通大学，2015.

WANG Chao. Modeling and Control of Linear Drive Silicone Soft Manipulator［D］. Shanghai:Shanghai Jiao Tong University, 2015.

[1]	LI Yingchun, NIE Aonan, YANG Mingxuan, ZHU Dingkang, QIU Ming, YANG Gengsheng. Research on Thermal Characteristics of Auxiliary Bearing in AMBs and Friction Reduction Design [J]. China Mechanical Engineering, 2024, 35(04): 646-655.
[2]	LIANG Yongbin, FU Guang, LIN Zhigui, HE Zhicheng, ZHANG Jialuo, CHEN Tao. Design of Lane Keeping Assist Systems Based on Improved Preview Control Model [J]. China Mechanical Engineering, 2024, 35(03): 548-558.
[3]	HUANG Wei, CHI Cheng. Analysis for Aero -elastic Characteristics of Prop-Rotor in Hover with a Swept Tip [J]. China Mechanical Engineering, 2024, 35(02): 191-200.
[4]	XU Zuolin, HUANG Chuanzhen, LIU Huanlian, LIU Dun. Coating Technology and Mechanism of Modified Diamond Powder by Surface Coating of WC Powders [J]. China Mechanical Engineering, 2024, 35(02): 208-214.
[5]	YUE Jianfeng, LONG Xinyu, HUANG Yunlong, GUO Jialong, LIU Wenji. On-line Identification of Narrow Gap P-GMAW Sidewall Fusion States Based on Arc Acoustic Signals [J]. China Mechanical Engineering, 2024, 35(02): 244-250，259.
[6]	DU Xu, CHANG Zexin, ZHENG Junqiang, REN Pengfei. A Real-time Tool Path Smoothing Algorithm Considering Joint Jerk Constraints [J]. China Mechanical Engineering, 2024, 35(02): 280-286.
[7]	SUN Yuxiang, CHEN Li, LONG Bo, WANG Yanping, LIU Shihua, JIA Kun. Intelligent Layout for Pipeline Supports of Nuclear Power Plant under Complex Load [J]. China Mechanical Engineering, 2024, 35(02): 317-323，336.
[8]	LI Mozhi, ZHU Wenfeng, WANG Shunchao. Roller Pose Compensation in Automotive Body Roll-hemming Forming Process with Adhesive for Dimensional Deviation [J]. China Mechanical Engineering, 2024, 35(02): 364-370.
[9]	WANG Weijun, YANG Guilin, DU Qinghao, CHEN Qingying, . Design of 3K Planetary Gear Reducers with No Backlash [J]. China Mechanical Engineering, 2024, 35(01): 36-44,55.
[10]	GAO Jin, CUI Haibing, FAN Tao, LI Ang, DU Zunfeng. A Structural Reliability Calculation Method Based on Adaptive Kriging Ensemble Model [J]. China Mechanical Engineering, 2024, 35(01): 83-92.
[11]	SUN Haitao, ZHAN Mei, FAN Xiaoguang, GUO Jing, HAN Chao, ZHANG Jun. Research Progresses and Prospects of Compression Molding of High-performance PBX [J]. China Mechanical Engineering, 2024, 35(01): 160-180.
[12]	ZHU Fuxian, QIU Gang, ZHU Xingmin, XU Xianyi, ZHOU Jinyu. Failure Mode and Progressive Damage Analyses of Carbon-glass Hybrid Composite Single Nail and Single Shear Bolted Joints [J]. China Mechanical Engineering, 2023, 34(23): 2781-2793.
[13]	HAO Zhuangzhuang, ZHANG Qingchun, HU Yunbo, GUO Yibin, WANG Donghua, LI Wanyou. Research on Influences of Tooth Friction and Geometric Eccentricity Errors on Mesh Stiffness of Profile Shifted Spur Gear Pairs [J]. China Mechanical Engineering, 2023, 34(23): 2812-2823.
[14]	YU Shubo, LIU Zhansheng, ZHAO Chen. Dynamics Simulation Data Driven Domain Adaptive Intelligent Fault Diagnosis [J]. China Mechanical Engineering, 2023, 34(23): 2832-2841.
[15]	LIU Xiaobao, YAN Qingxiu, YI Bin, YAO Tingqiang, GU Wenjuan. Optimization of Process Parameters in Process Manufacturing Based on Ensemble Learning and Improved Particle Swarm Optimization Algorithm [J]. China Mechanical Engineering, 2023, 34(23): 2842-2853.