【摘要】 针对现有手部康复机器人精细化操作不足与人机相容性较差的问题，从脑卒中临床康复需求出发，基于人体解剖学理论，提出一种新型欠驱动食指外骨骼康复机器人。采用2-UPS并联机构与鲍登线的新型组合设计，实现了掌指关节二自由度主动康复运动，提高了机器人精细化操作能力；在设计过程中将指骨作为人机闭式运动链的组成部分，并探讨了食指屈曲/伸展与内收/外展运动的耦合关系，完善了患者康复训练中的约束条件，使机器人运动与人体自然运动更加协调，提高了机器人的人机相容性；求解了机构的运动学反解，分析了机构的工作空间并完成了仿真验证；搭建实验样机并开展了机构性能测试，基于对15个被试开展的人机工程学与康复运动舒适性的调查问卷结果，采用层次分析法对设备进行了评价，结果表明该机构可以满足使用者的康复需求。更多还原

【Abstract】 To tackle the problems of insufficient precision of operation as well as poor human-machine compatibility of conventional hand rehabilitation robots, a novel underactuated index finger exoskeleton is proposed based on human anatomy to meet the clinical demand. By adopting the combination of 2-UPS parallel mechanism and Bowden wire, two degree-of-freedom active movements of the metacarpophalangeal joint are accomplished, and the operation precision of the robot is enhanced. During the design process, the phalanx is regarded as a part of the human-machine closed chain and the coupling relationship between the flexion/extension and the adduction/abduction movements is discussed to clarify the relationship of the constraint conditions during the rehabilitation training,which improves the coordination characteristics in the movement between human and robot and also the human-machine compatibility. The inverse kinematics of the mechanism is solved, the workspace is analyzed through both the theoretical analysis and simulation verification. A prototype is built to test the robot’s performance, and based on the questionnaire of 15 subjects, the comfortability of the device is evaluated by using the analytic hierarchy process. The results show that this robot can satisfy the rehabilitation needs of patients.更多还原