Design and Research of Bionic Hand Exoskeleton Based on Flexible Hinge
Meng Qiaoling1,2,3*, Shen Zhijia1,2,3, Chen Zhongzhe1,2,3, Nie Zhiyang1,2,3
1(Institute of Rehabilitation Engineering and Technology,University of Shanghai for Science and Technology,Shanghai 200093, China) 2(Shanghai Engineering Research Center of Assistive Devices,Shanghai 200093, China) 3(Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs,Shanghai 200093,China)
Abstract：In order to help patients with hand dysfunction perform hand rehabilitation training and activities better in daily life,this paper proposed a bionic hand exoskeleton based on flexible hinge. Firstly,based on elastic mechanics,the mapping relation model of stiffness between the straight beam and semi-circular beam-type flexible hinge was established. Then the stiffness design equation of semi-circular beam-type flexible hinge was improved by the finite element model and the universality and effectiveness of the equation were proved by the finite element model of three-hinge series finger exoskeleton. Secondly,based on the improved equation,this paper designed a bionic hand exoskeleton based on flexible hinge,which could realize buckling motion through ropes and stretch motion through flexure hinge. And the kinematics model was established by homogeneous coordinate transformation to study the motion characteristics of rope drive. Finally,experiments of bending performance and grasping ability were carried out on the prototype. The simulation results of finger exoskeleton showed that the stiffness design equation of single hinge could be used to calculate the stiffness of each hinge in the complex mechanism,and the error value was no more than 3.5%. In this study,the weight of hand executive component of prototype was only 125 g,which was convenient for users to carry in daily life. The experimental results of bending performance showed that the improved stiffness design equation reduced the calculation error of 40% stiffness of semi-circular beam-type flexible hinge,and made the error within 5%,so that the geometric dimensions of the hinge satisfying the bending condition could be obtained quickly. The experimental results of grasping ability showed that two healthy subjects could measure the stable output of 8 N fingertip force from the single finger of the exoskeleton hand,which could meet the needs of daily life. Therefore,the hand exoskeleton could not only provide normal range of motion of the joints,but also assisted patients with hand dysfunction in hand rehabilitation training and daily activities due to its characteristics of light weight,portability and high grasping ability.
孟巧玲, 沈志家, 陈忠哲, 聂志洋. 基于柔性铰链的仿生外骨骼机械手设计研究[J]. 中国生物医学工程学报, 2020, 39(5): 557-565.
Meng Qiaoling, Shen Zhijia, Chen Zhongzhe, Nie Zhiyang. Design and Research of Bionic Hand Exoskeleton Based on Flexible Hinge. Chinese Journal of Biomedical Engineering, 2020, 39(5): 557-565.
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