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日常生活中，脑卒中为主的多种疾病均会引发严重的手部功能障碍，导致患者几乎无法用手独立完成一些看似简单的工作，自理能力和生活质量受到了极大影响。为解决该问题，设计了一种基于柔索驱动的手部康复机器人系统，可辅助手指完成弯曲伸展以及对不同物体的抓握训练，并通过上位机实现抓握速度调节、弯曲度可视化及数据存储等功能。该系统采用位置-速度双闭环串级PID控制，有效提高了系统的稳定性。对该系统性能进行实验测试，结果表明：该系统运行稳定，能够实时显示手部运动状态，且在室内环境下能够安全且平稳地辅助手部完成对不同尺寸物体的有效抓握。
Abstract：Various diseases, primarily strokes, can lead to severe hand dysfunction in daily life, rendering it nearly impossible for patients to perform seemingly simple tasks independently, significantly affecting their self-care abilities and quality of life. To solve the above problems, a flexible cable-driven hand rehabilitation robot system has been designed to assist fingers in bending and stretching as well as the grasping training of various objects. The system enables the functions of grasping speed adjustment, bending degree visualization and data storage via an upper computer. The system also adopts position-velocity double closed-loop serial PID control, which effectively improves the stability of the system. Experimental results indicate that the hand rehabilitation robot system operates stably, providing real-time feedback on hand movement and safely assisting users in grasping objects of various sizes within an indoor environment.
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基本信息:
DOI：10.19573/j.issn2095-0926.202501001
中图分类号:TP242;R496
引用信息:
[1]秦转萍,赵壮壮,郭庭航等.基于柔索驱动的手部康复机器人系统设计[J].天津职业技术师范大学学报,2025,35(01):1-6.DOI:10.19573/j.issn2095-0926.202501001.
基金信息:
天津市教委科研计划重点项目（2022ZD009）