Design of exoskeleton for functional rehabilitation of fingers driven by shape memory alloy

doi:10.3785/j.issn.1008-973X.2022.12.003

Journal of ZheJiang University (Engineering Science)

2022, Vol. 56

Issue (12): 2340-2348 DOI: 10.3785/j.issn.1008-973X.2022.12.003

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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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

Received: 30 December 2021 Published: 03 January 2023

CLC:

TP 24

Fund: 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）

Corresponding Authors: Jian LI E-mail: wang.yangwei@nefu.edu.cn;lijian499@163.com

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Cite this article:

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.

URL:

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

形状记忆合金驱动手指功能康复外骨骼设计

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

Fig.1 Finger skeletal structure

Fig.2 Finger function rehabilitation exoskeleton structure

Fig.3 Finger function rehabilitation exoskeleton movement model

Fig.4 Fuzzy neural network PID controller

Fig.5 Fuzzy neural network PID network structure

Fig.6 Proportional factor tuning control surface

Fig.7 Control system overall structure of exoskeleton

Fig.8 Rehabilitation exoskeleton prototype

Tab.1 Related parameters of shape memory alloy

Fig.9 Finger functional rehabilitation exoskeleton control experimental device

Fig.10 Finger function rehabilitation exoskeleton three-finger angle change

Tab.2 Maximum bending angle of exoskeleton for healthy hands and hand function rehabilitation

Fig.11 Finger function rehabilitation exoskeleton assisted grasping test

Fig.12 Sequence diagram of middle amplitude bending movement of index finger

Fig.13 Motion control effect of index finger joint

Fig.14 Finger functional rehabilitation exoskeleton amplitude conversion angle change

Fig.15 Finger function rehabilitation exoskeleton cycle movement angle changes


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[1]	WANG Yang-wei, LAN Bo-wen, LIU Kai, ZHAO Dong-biao. Modeling and experiment of flexible manipulator actuated by shape memory alloy wire[J]. Journal of ZheJiang University (Engineering Science), 2018, 52(4): 628-634.

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