现代制造工程 ›› 2025, Vol. 540 ›› Issue (9): 66-72.doi: 10.16731/j.cnki.1671-3133.2025.09.009

• 机器人技术 • 上一篇    下一篇

基于SMA的腕部外骨骼设计及其内外旋运动机理分析

秦学, 侯瑞麟, 范颖豪, 王银迪, 王扬威   

  1. 东北林业大学机电工程学院,哈尔滨 150040
  • 收稿日期:2024-11-11 出版日期:2025-09-18 发布日期:2025-09-23
  • 通讯作者: 王扬威,博士,副教授,主要研究方向为康复机器人。E-mail:wang.yangwei@nefu.edu.cn。
  • 作者简介:秦学,硕士研究生,主要研究方向为软体外骨骼设计。
  • 基金资助:
    国家自然科学基金资助项目(52075089)

SMA-based wrist exoskeleton design and its internal and external rotation movement mechanism analysis

QIN Xue, HOU Ruilin, FAN Yinghao, WANG Yindi, WANG Yangwei   

  1. College of Electromechanical Engineering,Northeast Forestry University,Harbin 150040,China
  • Received:2024-11-11 Online:2025-09-18 Published:2025-09-23

摘要: 针对外骨骼机器人在仿生性、便携性上的问题,以及对腕部第三自由度内外旋运动研究的匮乏,在分析前臂带动腕部进行内外旋运动过程中肌肉运动机理的基础上,设计了一种基于形状记忆合金(Shape Memory Alloy,SMA)驱动的可穿戴腕部柔性外骨骼装置。根据人体前臂解剖结构中旋前圆肌、旋前方肌和旋后肌的作用机理,利用三维软件设计了一种符合生物力学的外骨骼装置,并通过SMA弹簧进行驱动从而实现腕部的内外旋运动。该外骨骼装置的仿生性和柔顺性符合人体腕部运动特性,其轻质、便捷性可有效辅助手功能缺失患者完成更加灵活的日常生活活动,为手功能康复医疗领域提供新的视角和方法。

关键词: 形状记忆合金, 内外旋运动, 手功能康复, 仿生外骨骼, Vicon运动捕捉

Abstract: Aiming at the problems of exoskeleton robots in terms of bio-imitability and portability,as well as the lack of research on the internal and external rotation motion of the third degree of freedom of the wrist,a wearable wrist flexible exoskeleton device was designed based on Shape Memory Alloy (SMA) actuation based on analyses of the mechanism of muscle movement during internal and external rotation motion of the wrist driven by the forearm. A biomechanically compliant exoskeleton device was designed using 3D software based on the mechanism of the pronator teres,musculus pronator quadratus,and supinator muscles in the anatomical structure of the human forearm,which is driven by SMA springs to achieve the internal and external rotation movement of the wrist. The biomimetic and flexible nature of this exoskeleton device is in line with the human wrist movement characteristics,and its light weight and convenience can effectively assist the patients with hand function deficiency to complete more flexible daily life activities,which provides new perspectives and methods in the field of hand function rehabilitation medical treatment.

Key words: Shape Memory Alloy (SMA), internal and external rotational movements, functional hand rehabilitation, bionic exoskeleton, Vicon motion capture

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