【摘要】 文章针对手部康复训练提出一种偏心波纹管软体致动器结构，研制出一款具有镜像疗法功能的手部康复软体机器人。设计该偏心波纹管软体致动器结构的波峰、波谷中心存在一定的偏心距，以减少其在变形过程中的能量损耗，提高与人手的适配性；基于镜像疗法进行手部康复软体机器人控制系统的设计，使该系统具有主动康复训练、被动康复训练和镜像康复训练3种工作模式。抓取实验、指尖输出力测试以及镜像训练实验的结果表明，所设计的手部康复机器人具有较好的稳定性和顺应性，能够满足手部功能障碍患者的康复训练需求。更多还原

【Abstract】 In this paper, an eccentric bellows soft actuator structure is proposed for hand rehabilitation training, and a soft hand robot with mirror therapy function is developed. The center of the wave crest and trough of the eccentric bellows soft actuator structure has a certain eccentricity, which reduces its energy loss in the deformation process and improves its adaptability to human hands. The control system of soft hand rehabilitation robot is designed based on mirror therapy. The system has three working modes: active rehabilitation training, passive rehabilitation training and mirror rehabilitation training. Finally, through grasping experiment, fingertip output force test and mirror training experiment, it is shown that the hand rehabilitation robot designed in this study has good stability and compliance, and can meet the needs of rehabilitation training for patients with hand dysfunction.更多还原