手指滚动防止机制用于控制电缆驱动的抓取外骨架中的屈曲率
概括
这项研究介绍了用于电缆驱动外骨架的抗指滚动 (AFRU) 机制. 该AFRU设备通过增加手指关节硬性,提高抓取能力,提高抓取稳定性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物力学 生物力学
- 康复工程 康复工程
背景情况:
- 指的卷起,以过早的关节曲为特征,破坏了电缆驱动的外骨架中的抓握.
- 这种现象发生在线缆直接拉在手指尖上时,导致在预期的外包外抓住.
- 现有的辅助设备可能无法充分解决这种特定的抓取不稳定性.
研究的目的:
- 设计和实施用于电缆驱动的抓取辅助外骨架的抗指滚动 (AFRU) 机制.
- 模拟远端和近端间关节增加的关节刚性,以抵消手指卷起.
- 开发一个动态模型,以适应AFRU机制的各种病理.
主要方法:
- 用弹性关节制造替代手作为实验试验床.
- 集成一个被动弹钢片附着在外骨的前侧,以反对曲.
- 开发一个动态模型,包括外骨,手指,替代关节和弹钢片.
主要成果:
- AFRU机制有效地模拟了增加的关节硬性,抵消了手指翻转.
- 替代手的试验床验证了外骨架的抗手指卷起的能力.
- 动态模型提供了一个框架,使设备适应不同的临床需求.
结论:
- 开发的AFRU机制为电缆驱动的外骨架中手指卷起提供了可行的解决方案.
- 这项创新有可能改善辅助机器人设备用户的掌握稳定性和功能结果.
- 动态模型为不同的患者群体提供了临床翻译和定制的便利.
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