Structural Design of Finger Rehabilitation Exoskeleton Robots

被引：1
|
作者：
Wang J. [1 ]
Guan S. [1 ]
Xia Q. [2 ]
机构：
[1] School of Mechatronics Engineering, Xi'an Polytechnic University, Xi'an
[2] School of Robotic, Beijing Union University, Beijing
来源：
| 2018年 / Chinese Mechanical Engineering Society卷 / 29期
关键词：
Kinematics; Optimized design of structure; Planar linkage mechanism; Rehabilitation; Workspace;
D O I：
10.3969/j.issn.1004-132X.2018.02.015
中图分类号：
学科分类号：
摘要：
In order to meet rehabilitation needs of patients with finger injury, a finger-supported exoskeletal robot was designed based on planar linkages. Firstly, a kinematics model of the robot was established by analyzing the degrees of freedom of bionic finger movements. Secondly, main mechanical components and rotation angles of finger joints were used as space vector elements to solve robot workspace. Based on these, optimum sizes of each mechanical structures were obtained, and structural optimization designs of mechanical components were completed. Simulation results show that the robot may carry out bending and stretching movements in a certain range of angles, and may meet rehabilitation training of patients with finger injury. © 2018, China Mechanical Engineering Magazine Office. All right reserved.
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页码：224 / 229
页数：5
相关论文
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