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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 (6): 1127-1134    DOI: 10.3785/j.issn.1008-973X.2022.06.009
智能机器人     
用于康复训练的分段式气动软体驱动器
刘彩霞1,2(),潘亭亭2,孙一帆2,李帅2,刘平2,黄英2,*()
1. 合肥工业大学 物理学院，安徽 合肥 230601
2. 合肥工业大学 微电子学院，安徽 合肥 230601
Segmented pneumatic soft actuator for rehabilitation training
Cai-xia LIU1,2(),Ting-ting PAN2,Yi-fan SUN2,Shuai LI2,Ping LIU2,Ying HUANG2,*()
1. School of Physics, Hefei University of Technology, Hefei 230601, China
2. School of Microelectronics, Hefei University of Technology, Hefei 230601, China
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摘要：

针对手指康复训练中软体驱动器贴合度低、灵活性差、运动传递不准确等问题，基于仿生原理设计分段式气动软体驱动器. 通过3个具有锯齿结构半波纹管气囊实现软体驱动器的分段弯曲，嵌入柔性应变传感器实现软体驱动器本体感知. 建立半波纹管气囊弯曲变形数学模型，借助有限元分析对半波纹管气囊进行分析，研究壁厚、波纹宽度、波距和波纹数目对该气囊弯曲性能和末端输出力的影响，选取软体驱动器尺寸参数. 采用3D打印技术及失蜡铸造工艺，制作分段独立驱动的软体驱动器. 特性测试结果表明：分段式软体驱动器最大弯曲角度为302°，末端输出力为3.33 N，能够带动手指进行分关节康复训练，内嵌的柔性应变传感器可以实时监测软体驱动器弯曲状态.
关键词： 软体驱动器;  气动式;  有限元分析;  柔性应变传感器;  手指康复    
Abstract:

A segmented pneumatic soft actuator was designed based on the bionic principle for the problems of low fit, low flexibility, and inaccurate movement transmission of soft actuators in finger rehabilitation training. Segmented bending of the soft actuator was realized by three semi-bellows airbags with serrated structure, and the flexible strain sensors were embedded to achieve the proprioception of soft actuator. The bending deformation mathematical model of semi-bellows airbags were established, and the semi-bellows airbags were analyzed by finite element analysis. The influences of wall thickness, wave width, wave distance and ripple number on the airbags’ bending performance and terminal output force were studied, and the dimension parameters of soft actuator were selected. The soft actuator was fabricated using 3D printing technology and lost wax casting process. The characteristic test results of the soft actuator show that the maximum bending angle of the segmented soft actuator was 302°, and the terminal output force was 3.33 N, the finger was moved to do joint rehabilitation training, and the bending state of the soft actuator was monitored in real time through the flexible strain sensor.
Key words: soft actuator    pneumatic    finite element analysis    flexible strain sensor    finger rehabilitation
收稿日期: 2022-03-02 出版日期: 2022-06-30
CLC:  TP 24  
基金资助: 浙江省科技厅“领雁”研发攻关计划项目（2022C03052）；中央高校基本科研业务费专项资金资助项目(JZ2020HGTB0027，JZ2020HGQA0166）
通讯作者: 黄英     E-mail: hgdliucaixia@163.com;hf.hy@163.com
作者简介: 刘彩霞（1975—），女，副教授，从事敏感电子学与传感技术研究. orcid.org/0000-0001-5291-8399. E-mail： hgdliucaixia@163.com
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刘彩霞
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引用本文:

刘彩霞,潘亭亭,孙一帆,李帅,刘平,黄英. 用于康复训练的分段式气动软体驱动器[J]. 浙江大学学报(工学版), 2022, 56(6): 1127-1134.

Cai-xia LIU,Ting-ting PAN,Yi-fan SUN,Shuai LI,Ping LIU,Ying HUANG. Segmented pneumatic soft actuator for rehabilitation training. Journal of ZheJiang University (Engineering Science), 2022, 56(6): 1127-1134.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2022.06.009    或    https://www.zjujournals.com/eng/CN/Y2022/V56/I6/1127

图 1  软体驱动器的结构设计
关节 运动方向 θIF/（°）
掌指关节 屈曲 0~90
近端指间关节 屈曲 0~100
远端指间关节 屈曲 0~80
表 1  食指各关节的运动范围
图 2  半波纹管气囊的尺寸标注
图 3  半波纹管气囊弯曲状态图
图 4  不同壁厚时半波纹管气囊的仿真结果
图 5  不同波纹宽度时半波纹管气囊的仿真结果
图 6  不同波距时半波纹管气囊的仿真结果
图 7  不同波纹数目时半波纹管气囊的仿真结果
图 8  软体驱动器仿真位移云图
图 9  软体驱动器的制作流程
图 10  软体驱动器特性测试
图 11  软体驱动器与传感器间的测试
图 12  软体驱动器康复应用
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