动力手套是一种腕部康复训练装置，同时具有辅助的助力功能。康复训练是手腕进行自主康复的一种重要的辅助治疗手段，传统的康复训练装置大多采用电机驱动的刚性外骨骼结构，在运动时急剧变化的冲击力易造成关节二次伤害，同时较大的质量增加了身体的额外负担。基于气动人工肌肉设计并制作了一款柔性可穿戴动力手套装置，能够实现腕关节屈/伸、内收/外展两自由度运动，集康复训练与腕部助力于一体，轻量化柔顺的外骨骼结构提高了其便携性及舒适性。通过嵌入薄膜压力传感器能够感知手掌与物体之间的抓取力，自动实现腕关节助力功能并有效地保护腕部。对腕部进行穿戴静力分析求解手套装置的性能需求参数，并测试气动肌腱的关键指标及手套的整体性能，测试结果表明所设计的动力手套能够满足腕部康复训练要求并具有辅助的助力功能。
姚建涛
,
李海利
,
曹开彬
,
陈新博
,
周盼
,
赵永生
. 柔性可穿戴腕部动力手套的设计与分析[J]. 机械工程学报, 2018
, 54(19)
: 1
-9
.
DOI: 10.3901/JME.2018.19.001
The power glove is a wrist rehabilitation training device that also has an auxiliary power assist function. Rehabilitation training is an important auxiliary treatment for self-rehabilitation. Most of the traditional rehabilitation training devices use a rigid exoskeleton structure driven by a motor, which tends to cause secondary injury to the joint due to the sharply changing impact force during exercise and increases the extra burden on the body owing to its larger mass. A flexible wearable powered glove device is designed and manufactured based on pneumatic artificial muscles. It can achieve wrist flexion/extension and adduction/abduction with two degrees of freedom and integrates rehabilitation training and wrist assistance. By contrast, the device is safer, more portable and comfortable for the patients because of its lightweight, soft exoskeleton structure. Additionally, by embedding a thin-film pressure sensor, the grasping force between the palm and the object can be perceived, and the wrist assist function can be automatically realized, and at the same time, the wrist can be effectively protected. A static analysis of wrist is carried out to solve the performance requirement parameters of glove device, and the key indicators of pneumatic muscle and the overall performance of gloves are tested. The test results show that the designed power gloves can meet the requirements of wrist rehabilitation training and have auxiliary assistance function.
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