[1]李超,袁锐波,丘世因,等.外骨骼康复机械手的结构设计及仿真分析[J].机械与电子,2016,(02):16-19.
　LI Chao,YUAN Ruibo,QIU Shiyin,et al.Design and Kinematical Analysis of Exoskeleton Rehabilitation Robot Hand[J].Machinery & Electronics,2016,(02):16-19.
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外骨骼康复机械手的结构设计及仿真分析
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2016年02期
页码:
16-19
栏目:
设计与研究
出版日期:
2016-02-25

文章信息/Info

Title:
Design and Kinematical Analysis of Exoskeleton Rehabilitation Robot Hand
作者:
李超; 袁锐波; 丘世因; 刘永亮
（昆明理工大学机电工程学院，云南 昆明 650500）
Author(s):
LI Chao; YUAN Ruibo; QIU Shiyin; LIU Yongliang
（Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology，Kunming 650500,China）
关键词:
康复机械手; 运动学分析; ADAMS仿真
Keywords:
rehabilitation robot hand; kinematical analysis; ADAMS simulation
分类号:
TH122
文献标志码:
A
摘要:
为解决中风患者传统康复训练效率低、成本高、不易在家中操作等问题，提出了外骨骼康复机械手的研究，首先建立了人手正逆运动学模型，然后以食指为例设计了外骨骼康复机械手结构，最后利用ADAMS软件进行运功学仿真，从而验证了设计结果的正确性。为控制系统的设计和物理样机的制造提供了理论依据。
Abstract:
In this paper, the exoskeleton rehabilitation robot hand is studied in order to solve its problems of low efficiency, high cost, difficult home use etc. in the traditional rehabilitation process. First, the kinematical model of the human hand is built; then the structure of exoskeleton rehabilitation robot hand is designed with the index finger as example; finally, the correctness of design results is verified by ADAMS kinematic analysis. This provides theoretical basis for control system design and physical prototype manufacturing.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期：2015-11-13
作者简介：李超（1990-），男，云南文山人，硕士研究生，研究方向为流体传动与控制；袁锐波（1968-），男，云南昆明人，博士，教授，研究方向为电液比例伺服控制、气动伺服控制。
更新日期/Last Update: 2016-02-25