人机关节自适应康复机械手的结构设计与分析

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中图分类号： TP242 文献标志码：A DOI：10.13338/j.issn.1674-649x.2025.02.007

Structure design and analysis of human-machine joint adaptive rehabilitation manipulator

SONG Shuanjun，ZHOU Jinliang，LIU Zhen （School of Mechanical and Electrical Engineering，Xi'an Polytechnic University，Xi'an 7lOo48，China）

Abstract A rehabilitation robotic arm with adjustable finger length was designed using the adaptive technology of human-machine joint rotation center to address the problem of the inability of the human-machine joint rotation center to always maintain coincidence and poor adaptability to the length of the patients finger joints when applied to different stroke patients in rehabilitation training. This robotic arm adopts a parallelogram linkage structure and a gear linkage structure， and is driven separately by multiple motors to achieve individual or colaborative rehabilitation training of fingers.To ensure that the motion parameters and trajectory of the robotic arm conform to the normal biological motion laws of human hands，a kinematic model and motion simulation analysis of the human hand and finger rehabilitation training module were constructed to verify the motion laws and finger length adaptability of each joint of the robotic arm. The results show that the robotic arm can always maintain the coincidence of the rotation centers of the human-machine joints during rehabilitation training，achieving individual or collaborative rehabilitation training of fingers. The maximum angular displacement of MCP and PIP joint rehabilitation training is 72.2737∘ and ，respectively. This robotic arm can adapt to different finger lengths of patients. When the length of the proximal phalanx varies within the range of 42～ 50mm ，the maximum angular displacement error of the PIP joint is less than ，meeting the rehabilitation training needs of patients.

Keywords manipulator; stroke; rehabilitation training; kinematics; simulation analysis

0引言

脑卒中已成为中国居民首要死亡原因，且患病率持续上升，年轻化趋势明显[1]。（剩余13002字）