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兼顾多动作与轻量化的仿生假肢手设计创成

Design and Fabrication of a Bionic Prosthetic Hand with Multi-Motions and Light Weight

  • 摘要: 假肢手的动作数量与轻量化之间存在矛盾关系, 为兼顾两者之间的平衡, 满足假肢手多动作和轻量化的要求, 该研究通过分析人手的16种日常抓取动作, 设计了一种合理的电机驱动结构。该结构在四指中应用了多关节同时屈曲传动, 在拇指中应用了定轨迹适应性传动, 掌骨使用可自动切换为弧面和平面的对称弹性串联驱动式传动, 以及配置五指的自动伸展, 将这些机能融合在假肢手中, 仅用3个电机实现了11 种假肢手动作, 达到了132.1 g的轻量化设计。该文还通过肌电信号结合神经网络算法, 实现了假肢手直觉控制, 并验证了其具有良好的抓取稳定性和操作性。

     

    Abstract: It is still a challenge to design a hand prosthesis with a consideration of multi- motions and light weight. In this paper, by analyzing 16 commonly-used motions of human hands, a trade-off plan between weight saving and the number of motions of a hand prosthesis is studied. We determine the functions to be implemented as a constant interlock mechanism of four fingers. An adaptive mechanism is applied for the thumb, and the symmetric series elastic actuator is used for the arching of metacarpal. With such a design, a prosthetic hand was designed just using three motors embedded in the palm, which has weight of 132.1 g and could perform 11 motions. The grasping stability and operability of the hand prosthesis were confirmed with intuitive myoelectric control based on a neural network algorithm in the subject experiments.

     

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