摘要
腕关节的运动能力显著影响手部操作的准确性和稳定性,为实现腕关节的精细康复训练,该文提出一种3自由度索驱动腕康复机器人。该文首先基于康复训练穿戴便捷和舒适要求,对满足腕关节康复训练需求的3转动自由度索驱动机构进行适应性构型设计,并以人体骨骼作为支撑,设计具有开放式结构的索驱动腕康复机器人;其次,建立索驱动腕康复机器人运动学和静力学模型,并分析其力控工作空间和运动灵巧性;最后,搭建索驱动腕康复机器人样机,并提出适用于腕关节初期康复训练的被动柔顺康复训练策略。研究结果表明:该文所提腕康复机器人可满足腕关节桡偏/尺偏的全范围运动需求、背伸/掌屈87.7%和旋外/旋内38.7%的日常生活活动运动需求,力控工作空间内的条件数值范围为1.6~4.0,运动灵巧性较好;被动柔顺训练试验验证了该文所提索驱动腕康复机器人的可行性。该文研究结果可为索驱动腕康复机器人的构型设计和运动性能分析提供参考。
[Objective]The mobility of the wrist joint is critical to the accuracy and stability of hand manipulation.Individuals with movement disorders,such as stroke survivors,require repetitive rehabilitation to restore wrist function.Rigid exoskeleton rehabilitation robots are limited by various issues,including misalignment with anatomical joints and high inertia.Cable-driven robots,with their flexible structures,offer distinct advantages including reduced weight,improved human-robot interaction,and better joint alignment.Consequently,they mitigate the limitations of rigid exoskeleton systems.To facilitate accurate wrist rehabilitation,a 3 degrees of freedom cable-driven wrist rehabilitation robot(CDWRR)is proposed.[Methods]An adaptive configuration design is developed for a 3 degrees of freedom cable-driven mechanism designed to meet the functional demands of wrist rehabilitation,with a focus on user comfort and wearability.The open-structure CDWRR utilizes the human skeleton as a support structure and models the wrist joint as a constrained hinge.A kinematic model is established,and both the inverse position and inverse velocity are derived.Subsequently,a static is constructed,and cable forces are optimized using quadratic programming to ensure positive,continuous tension within safe limits.The wrench-feasible workspace is determined by integrating cable force constraints with a boundary search method.Motion dexterity is evaluated using the condition number of the Jacobian matrix.Finally,an experimental platform is developed,and a passive compliant training strategy—combining passive motion and admittance control—is proposed for early-stage rehabilitation.The feasibility of the configuration and control algorithms is validated experimentally.[Results]The proposed 3 degrees of freedom CDWRR achieved full radial/ulnar deviation and covered 87.7%and 38.7%of the activities of daily living motion range for extension/flexion and pronation/supination,respectively.Within the workspace,the condition number ranged from 1.6 to 4.0,indicating good dexterity.Under external torque,the robot's workspace shifted in the direction of the applied force.During passive compliant training,when the interaction torque exceeded a set threshold,the robot demonstrated compliant behavior to ensure user safety.The cable length and force remained continuous and stable throughout motion,with no significant fluctuations,confirming the system's operational stability.[Conclusions]The proposed 3 degrees of freedom CDWRR incorporates an adaptive configuration design that offers lightweight construction,improved compliance,and high wearability.The experimental results demonstrate that the robot satisfies the key rehabilitation requirements for wrist range of motion and dexterity.The passive compliant training experiments validated the feasibility and applicability of the wrist rehabilitation mechanism,providing an effective solution for early-stage wrist joint rehabilitation training.This paper provides a reference for the design and motion performance analysis of the CDWRR.The research results of this paper can provide a reference for the configuration design and motion performance analysis of the cable-driven wrist rehabilitation robot.
作者
李国通
李昕
李政清
唐晓强
秦建军
LI Guotong;LI Xin;LI Zhengqing;TANG Xiaoqiang;QIN Jianjun(School of Mechanical-Electronic and Vehicle Engineering,Beijing University of Civil Engineering and Architecture,Beijing 100044,China;Department of Mechanical Engineering,Tsinghua University,Beijing 100084,China;State Key Laboratory of Tribology in Advanced Equipment,Department of Mechanical Engineering,Tsinghua University,Beijing 100084,China)
出处
《清华大学学报(自然科学版)》
北大核心
2026年第2期346-356,共11页
Journal of Tsinghua University(Science and Technology)
基金
国家自然科学基金青年项目(52405027)
国家自然科学基金面上项目(52575024)。
关键词
索驱动并联机器人
康复机器人
构型设计
工作空间
运动性能
cable-driven parallel robot
rehabilitation robot
configuration design
workspace
kinematic performance
