■为解决康复训练手套中软执行器的应用要求,并结合人体工程学要求,我们设计了一个带有弯曲和伸长模块的分段软执行器。该致动器可以实现手指关节的独立或耦合运动。
■建立了关节执行器的有限元模型,以比较具有不同结构形式的执行器的驱动性能。通过数值计算分析了结构尺寸参数对执行器弯曲特性和端部输出力的影响。然后基于这些分析改进设计。
■本研究中设计的关节执行器与标准快速气动网络结构相比,弯曲角度增加了71%。影响驾驶性能的关键因素包括约束层的厚度,腔室的内壁厚度,腔室高度,腔室宽度,腔室间距,腔室长度,和房间的数量。改进后,关节执行器的弯曲角度增加了60.6%,输出力增加了145.9%,表明显著改善。
■这项研究设计并改进了一种用于手部康复训练的软执行器,实现独立和耦合的关节运动。弯曲角度,弯曲形状,软执行器的关节驱动力满足手指康复训练的要求。
UNASSIGNED: To address the application requirements of soft actuators in rehabilitation training gloves, and in combination with ergonomic requirements, we designed a segmented soft actuator with bending and elongation modules. This actuator can achieve independent or coupled movements of the finger joints.
UNASSIGNED: A finite element model of the joint actuator was established to compare the driving performance of actuators with different structural forms. Numerical calculations were used to analyze the effects of structural size parameters on the bending characteristics and end output force of the actuator. The design was then refined based on these analyses.
UNASSIGNED: The joint actuator designed in this study demonstrated a 71% increase in bending angle compared to the standard fast pneumatic network structure. Key factors affecting the driving performance include the thickness of the constraint layer, the inner wall thickness of the chamber, chamber height, chamber width, chamber spacing, chamber length, and the number of chambers. After improvements, the bending angle of the joint actuator increased by 60.6%, and the output force increased by 145.9%, indicating significant improvement.
UNASSIGNED: This study designed and improved a soft actuator for hand rehabilitation training, achieving independent and coupled joint movements. The bending angle, bending shape, and joint driving force of the soft actuator meet the requirements for finger rehabilitation training.