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在手假肢模型的圆柱形抓地力预测
Ewelina Drelich1, Jan Tracz1,2, Adam Cisowski2
1Institute of Micromechanics and Photonics, Warsaw University of Technology, Św. Andrzeja Boboli 8, 02-525, Warsaw, Poland.
Scientific reports
|October 11, 2023
概括
本研究介绍了一种分析方法,用于计算在圆柱状握握过程中对假肢手的力. 该模型准确地预测了指和手指后肢的力量,有助于机械设计.
科学领域:
- 生物力学 生物力学
- 机器人技术 机器人技术 机器人技术
- 机械工程 机械工程
背景情况:
- 圆柱形抓是日常对象操纵的常见抓取模式.
- 手假肢需要准确的力计算,以获得有效的设计和功能.
- 实验和数值模拟等现有方法可能是资源密集的.
研究的目的:
- 开发一种分析方法,用于计算在圆柱形抓过程中对五指手假肢施加的力.
- 为假肢手设计提供一种资源高效的替代实验和数值方法.
- 通过实验比较和现有报告来验证分析方法.
主要方法:
- 分析力学应用于一个具有18个自由度的5个手指假肢.
- 使用平衡方程计算三个轴上的力和动量的计算.
- 在 MATLAB 中使用矩阵形式解决七个未知力系统.
- 使用FSR传感器进行验证,并与其他已发表的数据进行比较.
主要成果:
- 分析方法准确地预测了1公斤,70毫米直径的圆柱形握把过程中,指和手指后肢的力量.
- 与实验数据相比,在指指和中指力预测中观察到差异.
- 总的力量总和显示了相似性,表明了握力的可行性.
- 摩擦系数的选择对于握力精度至关重要.
结论:
- 提出的分析方法为计算手假肢设计中的力量提供了一种可行和资源高效的方法.
- 该方法为机械设计提供了有价值的力预测,特别是在指和手指后部件.
- 在特定的设计中,可能需要进一步的细化来准确地预测指指和中指的力.
- 该方法可以通过输入特定尺寸来适应不同的假肢模型.
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