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浙江大学学报(工学版)
浙江大学学报(工学版)  2022, Vol. 56 Issue (12): 2340-2348    DOI: 10.3785/j.issn.1008-973X.2022.12.003
机械工程     
形状记忆合金驱动手指功能康复外骨骼设计
王扬威(),吕佩伦,郑舒方,王奔,李健*()
东北林业大学 机电工程学院，黑龙江 哈尔滨 150040
Design of exoskeleton for functional rehabilitation of fingers driven by shape memory alloy
Yang-wei WANG(),Pei-lun LV,Shu-fang ZHENG,Ben WANG,Jian LI*()
College of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin 150040, China
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摘要：

为了研制适应关节黏弹特性、轻便、可穿戴的手指功能康复装置，在分析手指关节、肌腱运动机理的基础上，设计形状记忆合金（SMA）丝驱动的手指功能康复装置. 建立该装置的运动学模型和SMA驱动模型，提出基于SMA丝电阻反馈的模糊神经网络PID控制方法，研制手指功能康复外骨骼样机，进行样机的运动性能和控制性能实验. 结果表明，仿生外骨骼实现了预期的手指被动康复运动，拇指、食指和中指的最大弯曲角度与人体手指的弯曲角度相近，分别为130.5°、236.4°、242.5°；仿生外骨骼能够辅助手指完成日常抓握动作；模糊神经网络PID相比于传统PID控制，有效缩短了仿生外骨骼的响应时间，手指的屈伸康复频率为6次/min.
关键词： 手指功能康复机器人;  形状记忆合金(SMA)丝;  软体外骨骼结构;  模糊神经网络PID;  位姿控制    
Abstract:

A finger rehabilitation device driven by shape memory alloy (SMA) wire was designed based on the analysis of the movement mechanism of the finger joints and tendons, in order to design a light and wearable finger rehabilitation device that adapts to the viscoelastic properties of finger joints. Besides, a kinematics model and an SMA drive model of the device were established. A fuzzy neural network PID control method was developed based on resistance feedback of SMA wires. The prototype of the device was made, and experiments were conducted to test its motion function and control performance. Results showed that the bionic exoskeleton could drive the fingers to achieve the expected passive rehabilitation. The maximum bending angles of the thumb, index finger and middle finger were 130.5°, 236.4°, and 242.5° respectively, which were similar to the bending angles of human fingers. And the bionic exoskeleton was able to assist the fingers to complete daily grasping movements. Compared with the traditional PID control, the fuzzy neural network PID control could shorten the response time of the bionic exoskeleton substantially, and the frequency of finger flexion and extension movement up to 6 times per minute.
Key words: finger functional rehabilitation robot    shape memory alloy (SMA) wire    soft exoskeleton structure    fuzzy neural network PID    posture control
收稿日期: 2021-12-30 出版日期: 2023-01-03
CLC:  TP 24  
基金资助: 国家自然科学基金资助项目（52075089）；黑龙江省自然科学基金资助项目（LH2019E008）
通讯作者: 李健     E-mail: wang.yangwei@nefu.edu.cn;lijian499@163.com
作者简介: 王扬威（1980—），男，高级工程师，博士，从事康复机器人、智能控制技术研究. orcid.org/0000-0003-2947-7024. E-mail： wang.yangwei@nefu.edu.cn
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引用本文:

王扬威,吕佩伦,郑舒方,王奔,李健. 形状记忆合金驱动手指功能康复外骨骼设计[J]. 浙江大学学报(工学版), 2022, 56(12): 2340-2348.

Yang-wei WANG,Pei-lun LV,Shu-fang ZHENG,Ben WANG,Jian LI. Design of exoskeleton for functional rehabilitation of fingers driven by shape memory alloy. Journal of ZheJiang University (Engineering Science), 2022, 56(12): 2340-2348.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2022.12.003    或    https://www.zjujournals.com/eng/CN/Y2022/V56/I12/2340

图 1  手指骨骼结构
图 2  手指功能康复外骨骼结构
图 3  手指功能康复外骨骼运动模型
图 4  模糊神经网络PID控制器
图 5  模糊神经网络PID网络结构层
图 6  比例系数调参控制曲面
图 7  外骨骼控制系统总体结构
图 8  康复外骨骼样机
参数 数值 参数 数值
${\rho _{{\text{SMA}}}}$/ (kg·m?3) 6.5×103 ${t_{_{\text{Af}}}}$/℃ 109.5
$l$/mm 1000 ${E_{\text{M}}}$/GPa 27×109
${r_0}$/mm 0.3 ${E_{\text{A}}}$/GPa 65×109
${t^{}_0}$/℃ 25 $\varTheta $/(MPa·℃?1) 5.5×105
$c$(J·kg?1·℃?1) 870 $ \varOmega $/GPa ?1.12
${t_{_{\text{Ms}}}}$/℃ 61.1 ${h_1}$ 880
${t_{_{\text{Mf}}}}$/℃ 34.5 ${h_2}$ 16
${t_{_{\text{As}}}}$/℃ 69.3 — —
表 1  形状记忆合金的相关参数
图 9  手指功能康复外骨骼控制实验装置
图 10  手指功能康复外骨骼三指角度变化
手指 $ {\theta _1} $/(°) $ {\theta _2} $/(°)
拇指 130.5 150
食指 236.4 265
中指 242.5 270
表 2  健康人手和手功能康复外骨骼最大弯曲角度
图 11  手指功能康复外骨骼辅助抓握试验
图 12  食指中幅度弯曲运动序列图
图 13  食指关节运动控制效果
图 14  手指功能康复外骨骼幅值转换角度变化
图 15  手指功能康复外骨骼周期运动角度变化
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