残疾人用Partial Finger机构研究

杨会生, 姜力, 刘伊威, 刘宏

哈尔滨工业大学机器人研究所



摘要:

为了解决手指基指节截断患者无法安装功能型假肢的问题,研制了残疾人用Partial Finger.先分析了手指基指节截断患者的手部结构特点,基于被动驱动原理设计了Partial Finger的机械本体.基于拟人化的思想研究了手指的关节运动规律,设计以近似等比例传动的杆件参数.进行了运动学分析及样机性能实验.Partial Finger样机外形比成年人小指略小,采用残存基指节驱动,具有侧摆和张合两个自由度,手指关节以近似定传动比传动.实验结果表明:Partial Finger可单手安装和拆卸,指尖最大出力10.7N,外形和运动状态与人手指相似,疲劳实验5万次以上未出现问题,配合其他手指可完成近95%的手部功能.

关键词:  Partial Finger  全耦合  被动驱动

DOI：10.11918/j.issn.0367-6234.2010.09.014

分类号:TP242

基金项目:国家自然科学基金重点项目(50435040)



Study on the mechanism of partial finger for handicapped

YANG Hui-sheng, JIANG Li, LIU Yi-wei, LIU Hong

Robotics Institute,Harbin Institute of Technology,Harbin 150001,China

Abstract:

In order to solve the problem that no functional type of prosthetic finger is suitable for handicapped person with only truncated base knuckle,a novel partial finger was designed in this paper.First,the characteristic of truncated base knuckle was analyzed.Based on the passive drive principle,mechanical structure of the partial finger was designed.Then,research on the motion law of the knuckles was carried out based on personification ideas,and parameters of the bars were determined to realize the approximate equal ratio transmission.Finally the kinematics analysis as well as the performance experiment was done.The partial finger with its size smaller than the little finger of an adult is driven by truncated base knuckle and has two degrees of freedom,moreover,each joint approximately moves with stable drive ratio.Experimental results indicate that the disassembly and installation of partial finger can be accomplished only by one hand,the maximum force output by fingertip is 10.7 N,the shape and motion of partial finger are similar as the human finger,and no problem appears after 50 thousand of fatigue tests.The partial finger can accomplish 95 percent of the hand function with the cooperation of other fingers.

Key words:  partial finger  full-coupling  passive driving