采用套索驱动的手部助力外骨骼 设计与抓握实验研究

A hand-assisted exoskeleton system driven by a tendon-sheath actuator is designed to address the problem that, in the aerospace and industrial fields, fatigue damage to hands is caused and grasp strength is reduced, when personnel wear gloves to perform tasks, as finger joints are subject to the glove woven fabric compression. For this system, a PID force control method with speed as the inner loop and force as the outer loop is used, and the output force is fed back with a force sensor. The location of the hand-assisted exoskeleton cable slot is optimized by mechanics modeling. The grasping experiment for the designed exoskeleton system reveals that the assisted exoskeleton can reproduce all 33 grasp types in the Feix taxonomy; the grasping force of the exoskeleton at the fingertip can reach 14 N; with the exoskeleton, human finger joints can move by more than 63% of the independent finger bending range; the Pearson correlation coefficient of the angle of the metacarpophalangeal joint, proximal interphalangeal joint, and interphalangeal joint can reach more than 0.90; the peak RMS values of the brachioradialis muscle and the radial extensor carpi longus muscle decreased by 37.86% and 62.46%, respectively. The experimental results indicate that the designed hand-assisted exoskeleton can significantly reduce hand muscle energy consumption.