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WO2025102460A1 - Doigt bionique pneumatique accouplé à un corps flexible multiple, robot à main bionique et instrument de rééducation - Google Patents

Doigt bionique pneumatique accouplé à un corps flexible multiple, robot à main bionique et instrument de rééducation Download PDF

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Publication number
WO2025102460A1
WO2025102460A1 PCT/CN2023/137364 CN2023137364W WO2025102460A1 WO 2025102460 A1 WO2025102460 A1 WO 2025102460A1 CN 2023137364 W CN2023137364 W CN 2023137364W WO 2025102460 A1 WO2025102460 A1 WO 2025102460A1
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WO
WIPO (PCT)
Prior art keywords
bionic
finger
fingers
flexible
body coupled
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2023/137364
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English (en)
Chinese (zh)
Inventor
郭凯
张宇泽
杨洪波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Institute of Biomedical Engineering and Technology of CAS
Original Assignee
Suzhou Institute of Biomedical Engineering and Technology of CAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Suzhou Institute of Biomedical Engineering and Technology of CAS filed Critical Suzhou Institute of Biomedical Engineering and Technology of CAS
Publication of WO2025102460A1 publication Critical patent/WO2025102460A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0023—Gripper surfaces directly activated by a fluid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons

Definitions

  • the present invention relates to the technical field of rehabilitation robots, and in particular to a multi-flexible-body-coupled pneumatic bionic finger, a bionic hand robot and a rehabilitation device.
  • bionic robots are more effective in the field of sports rehabilitation.
  • Traditional bionic robots for sports rehabilitation usually have problems such as heavy weight and high impact, which limit their application in humanoid robots and exoskeleton equipment.
  • rope-type robots can improve the flexibility of robots to a certain extent, they often need to cooperate with supporting components.
  • the existing bionic robots are not flexible and safe, which is not conducive to safe and effective rehabilitation training for patients.
  • the object of the present invention is to provide a multi-flexible body coupled pneumatic bionic finger, a bionic hand robot and a rehabilitation device, which have the advantages of good flexibility and high safety.
  • a multi-flexible body coupled pneumatic bionic finger comprising:
  • a bionic frame member wherein the bionic frame member is provided with a first air hole for connecting to an external air supply device;
  • a bionic finger module connected to the top of the bionic frame member for relative rotation, wherein the bionic finger module comprises a plurality of finger joints connected to the top of the bionic frame member for relative rotation in sequence;
  • a flexible power mechanism connected to the bionic frame and the bionic finger module and used for driving the movement of each finger joint;
  • the flexible power mechanism comprises:
  • a bionic flexible coupling part a first end of which is connected to the first air hole, and is used to adjust the expansion and contraction amount according to the amount of gas filled in or discharged;
  • a driving rope the upper part of which is connected to each of the finger joints, and the bottom of which is connected to the second end of the bionic soft coupling part, is used to drive each of the finger joints to bend or stretch according to the expansion and contraction amount of the bionic soft coupling part.
  • gas is filled or discharged into the bionic soft coupling part by an external gas supply device.
  • the amount of gas in the bionic soft coupling part changes, its expansion and contraction amount will change.
  • the bionic soft coupling part contracts, it will pull the driving rope to move downward, and then pull the finger joints to move synchronously, forming a bending movement of the bionic finger module.
  • the bionic soft coupling part is extended, the pulling force of the driving rope on the finger joints is cancelled, and the finger joints are reset, forming an extension movement of the bionic finger module.
  • the coupling part and the driving rope cooperate to replace the rigid structure of the existing robot, have a smaller impact force, improve the safety of human-machine interaction, and have better flexibility through pneumatic drive.
  • each of the knuckles except the knuckle at the front end is provided with a connection kit, the drive rope is passed through and connected to each of the connection kits, and the first end of the drive rope is fixed to the knuckle at the front end.
  • connection kit is provided to facilitate the connection of the finger joints with the drive rope, thereby realizing the driving movement of each finger joint.
  • the bionic soft body coupling portion includes a plurality of bionic positive pressure contraction muscles connected in series, and the bionic positive pressure contraction muscles contract axially when positive pressure is filled.
  • the telescopic movement of the bionic soft body coupling part is achieved through the contraction function of the bionic positive pressure contraction muscle, and the serial connection of multiple bionic positive pressure contraction muscles enables the bionic soft body coupling part to have a sufficient telescopic movement range, so that the bionic finger module can form sufficient bending and extension angles.
  • a connecting joint is provided at one end of the bionic soft coupling portion close to the bionic finger module, and a second end of the driving rope opposite to the first end is connected and fixed to the connecting joint.
  • the bionic soft body coupling part is conveniently connected to the driving rope by providing a connecting joint, so as to realize the driving movement of the bionic finger module.
  • a bionic hand robot comprising:
  • the first bionic antagonist muscle is arranged between adjacent multi-flexible body coupled pneumatic bionic fingers.
  • the first bionic antagonist muscle contracts along the axial direction when positive pressure is charged, and extends along the axial direction when negative pressure is charged.
  • different multi-flexible body coupled pneumatic bionic fingers can be bent or stretched respectively by inflating/deflating air into different multi-flexible body coupled pneumatic bionic fingers through an external air supply device, and the first bionic antagonist muscle can be stretched and contracted by charging positive pressure or negative pressure into the first bionic antagonist muscle, thereby realizing the abduction or adduction movement of the multi-flexible body coupled pneumatic bionic fingers; specifically, when the external air supply device charges positive pressure into the first bionic antagonist muscle, the first bionic antagonist muscle contracts axially, thereby pulling adjacent multi-flexible body coupled pneumatic bionic fingers closer to each other, thereby realizing the adduction movement of the multi-flexible body coupled pneumatic bionic fingers, and when the external air supply device charges negative pressure into the first bionic antagonist muscle, the first bionic antagonist muscle extends axially, thereby pulling adjacent multi-flexible body coupled pneumatic bionic fingers apart from each other, thereby realizing the abduction movement of the multi-flexible body coupled pneumatic bionic fingers.
  • the plurality of multi-flexible-body coupled pneumatic bionic fingers include five little finger bionic fingers, ring finger bionic fingers, middle finger bionic fingers, index finger bionic fingers and thumb bionic fingers, which respectively correspond to the five fingers of a human hand; second air holes are provided on the lowest knuckles of the little finger bionic fingers, ring finger bionic fingers, middle finger bionic fingers and index finger bionic fingers, and second air holes are also provided on the bionic frame parts of the index finger bionic fingers and the bionic frame parts of the thumb bionic fingers; both ends of the first bionic antagonist muscle are connected to the corresponding second air holes.
  • the second air hole is connected to the first bionic antagonist muscle to achieve docking with an external air supply device.
  • the second air hole is located on the lowest knuckle and the bionic frame parts of the index finger bionic finger and the thumb bionic finger, which is convenient for the installation and connection of each first bionic antagonist muscle and can simulate the shape of the human hand and the adduction and abduction movements to the greatest extent.
  • a bionic wrist is also provided at the bottom of the bionic palm, and the bionic wrist is used to drive the bionic palm to rotate and swing.
  • the bionic wrist includes a mounting base plate and at least three second bionic antagonist muscles arranged in a polygonal shape.
  • a third air hole is provided at the bottom of the bionic frame, and one end of the second bionic antagonist muscle is connected to the third air hole, and the other end is connected to the mounting base plate.
  • the number of the second bionic antagonist muscles is four and they are arranged in a rectangular surrounding pattern, and the third air hole is arranged at the bottom of the bionic frame parts of the little finger bionic finger and the index finger bionic finger.
  • each second bionic antagonist muscle is cyclically inflated in a clockwise or counterclockwise order according to the above method, thereby realizing the rotation of the bionic palm and simulating the rotation movement of the human wrist.
  • the bionic frame, the bionic finger module, the bionic soft body coupling part, the bionic positive pressure contraction muscle, the first bionic antagonist muscle and the second bionic antagonist muscle are all integrally formed by 3D printing.
  • the implementation of the above technical solution can increase the manufacturing speed through 3D printing, and can meet the rapid prototyping of complex bionic muscles. It can also meet the needs of customized design according to the patient's hand joint size in the field of medical rehabilitation, thereby better meeting the needs of rehabilitation training, and also provides more possibilities for future innovation and development.
  • a rehabilitation device comprising the bionic hand robot as described in the second aspect.
  • the present invention has the following beneficial effects:
  • the embodiment of the present invention provides a multi-flexible-body coupled pneumatic bionic finger, a bionic hand robot and a rehabilitation device, wherein the multi-flexible-body coupled pneumatic bionic finger comprises: a bionic frame member, wherein the bionic frame member is provided with a first air hole for connecting to an external air supply device; a bionic finger module connected to the top of the bionic frame member for relative rotation, wherein the bionic finger module comprises a plurality of finger joints connected to be relatively rotated in sequence; a flexible power mechanism connected to the bionic frame member and the bionic finger module and used for driving the activities of the finger joints; wherein the flexible power mechanism comprises: a bionic soft body coupling part, wherein a first end of the bionic soft body coupling part is connected to the first air hole and used for adjusting the extension and contraction amount according to the amount of gas filled or discharged; a driving rope, wherein the upper part of the driving rope is connected to each of the finger joints, and the driving rope is connected to the finger joints.
  • the bottom of the moving rope is connected to the second end of the bionic soft coupling part, and is used to drive each finger joint to bend or stretch according to the expansion and contraction amount of the bionic soft coupling part.
  • the bionic soft coupling part is filled with or discharged by an external gas supply device. When the amount of gas in the bionic soft coupling part changes, its expansion and contraction amount will change. When the bionic soft coupling part contracts, it will pull the driving rope downward, and then pull each finger joint to move synchronously, forming the bending movement of the bionic finger module. On the contrary, when the bionic soft coupling part is extended, the pulling force of the driving rope on the finger joint is cancelled, and each finger joint is reset, forming the stretching movement of the bionic finger module.
  • the bionic soft coupling part and the driving rope are matched to replace the rigid structure of the existing robot, which has a smaller impact force, improves the safety of human-machine interaction, and has better flexibility through pneumatic drive.
  • FIG. 1 is a schematic structural diagram of a multi-flexible-body coupled pneumatic bionic finger according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural diagram of a bionic frame member and a bionic finger module in a multi-flexible-body coupled pneumatic bionic finger according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of the structure of a bionic hand robot according to a second embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of the bionic hand robot from another perspective of the second embodiment of the present invention.
  • the numbers and letters in the figure represent the corresponding component names: 10. Bionic frame; 11. First air hole; 20. Bionic finger module; 21. Finger joint; 22. Connection kit; 30, flexible power mechanism; 31, bionic soft body coupling part; 311, bionic positive pressure contraction muscle; 312, connection joint; 32, drive rope; 40, first bionic antagonist muscle; 50, bionic palm; 51, little finger bionic finger; 52, ring finger bionic finger; 53, middle finger bionic finger; 54, index finger bionic finger; 55, thumb bionic finger; 56, second air hole; 57, third air hole; 60, bionic wrist; 61, mounting base; 62, second bionic antagonist muscle.
  • An embodiment of the present invention provides a multi-flexible body coupled pneumatic bionic finger, including: a bionic frame member 10, on which is provided a first air hole 11 for connecting to an external air supply device; a bionic finger module 20 connected to the top of the bionic frame member 10 for relative rotation, and the bionic finger module 20 includes a plurality of finger joints 21 connected to each other for relative rotation in sequence; and a flexible power mechanism 30 connected to the bionic frame member 10 and the bionic finger module 20 for driving the movement of each finger joint 21.
  • the bionic frame member 10 is an L-shaped structure as a whole, including a first frame plate for connecting the bionic finger module 20 and a second frame plate integrally formed with the first frame plate, the first air hole 11 is arranged on the second frame plate, the bionic finger module 20 includes three finger joints 21, namely, a distal finger joint 21, a middle finger joint 21 and a proximal finger joint 21, the bionic finger module 20 and the bionic frame member 10 are also integrally formed, and the proximal finger joint 21 is provided with a first air hole 11 on the second frame plate, and the bionic finger module 20 includes three finger joints 21, namely, a distal finger joint 21, a middle finger joint 21 and a proximal finger joint 21.
  • a pivot portion is formed between the end finger joint portion 21 and the first frame plate and between adjacent direct portions.
  • the pivot portion has elastic deformation capability, so that the bionic finger template can bend when subjected to tension and automatically reset after losing tension.
  • the optional bionic frame member 10 and bionic finger module 20 are integrally formed by 3D printing, and the printing material is preferably Flexable 80A resin material, so that the pivot portion has sufficient elastic deformation capability.
  • the flexible power mechanism 30 includes: a bionic soft body coupling part 31, a first end of which is connected to the first air hole 11, and is used to adjust the expansion and contraction amount according to the amount of gas filled or discharged; a driving rope 32, the upper part of the driving rope 32 is connected to each finger joint part 21, and the bottom of the driving rope 32 is connected to the second end of the bionic soft body coupling part 31, and is used to drive each finger joint part 21 to bend or stretch according to the expansion and contraction amount of the bionic soft body coupling part 31.
  • the bionic soft coupling part 31 includes a plurality of bionic positive pressure contraction muscles 311 connected in series. When the bionic positive pressure contraction muscles 311 are filled with positive pressure, they expand and contract along the axial direction. When the positive pressure is discharged, they reset and extend along the axial direction. The contraction function of the bionic positive pressure contraction muscles 311 is used to realize the telescopic movement of the bionic soft coupling part 31.
  • the serial connection of multiple bionic positive pressure contraction muscles 311 enables the bionic soft coupling part 31 to have a sufficient telescopic movement range, so that the bionic finger module 20 can form a sufficient bending and extension angle.
  • the bionic soft coupling part 31 is also integrally formed by 3D printing.
  • a five-link bionic soft coupling part 31 is preferably used, i.e., it includes five bionic positive pressure contraction muscles 311 connected in series.
  • a triple bionic soft coupling part 31 or a bionic soft coupling part 31 with other numbers of bionic positive pressure contraction muscles 311 can also be used.
  • each other knuckle portion 21 is provided with a connecting kit 22, and the driving rope 32 is passed through and connected to each connecting kit 22, and the first end of the driving rope 32 is fixed to the knuckle portion 21 located at the front end, that is, a connecting kit 22 is provided on the proximal knuckle portion 21 and the middle knuckle portion 21, and the driving rope 32 passes through the connecting kit 22 and its first end is fixed on the distal knuckle portion 21.
  • the driving rope 32 can be directly fixed on the distal knuckle portion 21, or a joint structure can be provided on the distal knuckle portion 21 to connect and fix the driving rope 32; by providing the connecting kit 22, it is convenient to connect the knuckle portion 21 with the driving rope 32, so as to realize the driving movement of each knuckle portion 21.
  • a connecting joint 312 is provided at one end of the bionic soft coupling part 31 close to the bionic finger module 20, and the second end of the driving rope 32 opposite to the first end is connected and fixed to the connecting joint 312.
  • the connecting joint 312 it is convenient to connect the bionic soft coupling part 31 with the driving rope 32 so as to realize the driving movement of the bionic finger module 20.
  • the connecting joint 312 can also seal the upper end of the bionic soft coupling part 31, so that it can effectively perform axial contraction when positive pressure is filled in the bionic soft coupling part 31.
  • bionic soft coupling part 31 During operation, gas is filled or discharged into the bionic soft coupling part 31 by an external gas supply device.
  • the amount of gas in the bionic soft coupling part 31 changes, its expansion and contraction amount will change.
  • the bionic soft coupling part 31 contracts, it will pull the driving rope 32 to move downward, and then pull each finger joint part 21 to move synchronously, forming a bending movement of the bionic finger module 20.
  • the bionic soft coupling part 31 is extended, the pulling force of the driving rope 32 on the finger joint part 21 is cancelled, and each finger joint part 21 is reset, forming an extension movement of the bionic finger module 20.
  • the bionic soft coupling part 31 and the driving rope 32 cooperate to replace the rigid structure of the existing robot, have a smaller impact force, improve the safety of human-machine interaction, and through pneumatic drive way, with better flexibility.
  • An embodiment of the present invention provides a bionic hand robot, including: a plurality of multi-flexible body coupled pneumatic bionic fingers as described in Example 1, the bottoms of the bionic frame members 10 of each multi-flexible body coupled pneumatic bionic finger are relatively rotated and connected in sequence to form a bionic palm 50, and each multi-flexible body coupled pneumatic bionic finger is respectively connected to an external air supply device; and a first bionic antagonist muscle 40 is arranged between adjacent multi-flexible body coupled pneumatic bionic fingers, the first bionic antagonist muscle 40 contracts along the axial direction when positive pressure is charged, and extends along the axial direction when negative pressure is charged.
  • the multiple multi-flexible body coupled pneumatic bionic fingers include five little finger bionic fingers 51, ring finger bionic finger 52, middle finger bionic finger 53, index finger bionic finger 54 and thumb bionic finger 55, which respectively correspond to the five fingers of a human hand.
  • the little finger bionic finger 51, the ring finger bionic finger 52, the middle finger bionic finger 53 and the index finger bionic finger 54 are all provided with second air holes 56 on the lowest knuckles 21, and the bionic frame parts 10 of the index finger bionic finger 54 and the bionic frame parts 10 of the thumb bionic finger 55 are also provided with second air holes 56, and both ends of the first bionic antagonist muscle 40 are connected to the corresponding second air holes 56.
  • the little finger bionic finger 51, the ring finger bionic finger 52, the middle finger bionic finger 53, and the index finger bionic finger 54 all include three knuckles 21, and their connection method is consistent with that described in the first embodiment, which will not be elaborated here.
  • the thumb bionic finger 55 includes two knuckles 21, which are completely consistent with the knuckles of a human hand.
  • the thumb bionic finger 55 only includes a distal knuckle 21 and a proximal knuckle 21.
  • a connecting kit 22 is provided on the proximal knuckle 21, and a driving rope 32 passes through the connecting kit 22 and is fixed to the distal knuckle 21; and the second frame plates of adjacent multi-flexible-body coupled pneumatic bionic fingers are rotatably connected to each other.
  • the bionic frame members 10 of each multi-flexible-body coupled pneumatic bionic finger are integrally formed by 3D printing, and a pivot portion is formed between adjacent second frame plates, so that adjacent multi-flexible-body coupled pneumatic bionic fingers can achieve relative rotation under the action of the elastic deformation ability of the pivot portion itself.
  • the second air hole 56 is connected to the first bionic antagonist muscle 40 to achieve docking with an external air supply device.
  • the second air hole 56 is located on the bionic frame part 10 of the lowest knuckle 21 and the index finger bionic finger 54 and the thumb bionic finger 55, which is convenient for the installation and connection of each first bionic antagonist muscle 40 and can simulate the shape of the human hand and the adduction and abduction movements to the greatest extent.
  • a bionic wrist 60 is further provided at the bottom of the bionic palm 50, and the bionic wrist 60 is used to drive the bionic palm 50 to rotate and swing.
  • the bionic wrist 60 includes a mounting base 61, and at least three second bionic antagonist muscles 62 arranged in a polygonal shape.
  • a third air hole 57 is provided at the bottom of the bionic frame 10, and one end of the second bionic antagonist muscle 62 is connected to the third air hole 57, and the other end is connected to the mounting base 61; by sequentially filling one of the second bionic antagonist muscles 62 with negative pressure and the other second bionic antagonist muscles 62 with positive pressure, a height difference is formed between different second bionic antagonist muscles 62, and the rotational movement of the bionic palm 50 can be achieved.
  • second bionic antagonist muscles 62 are arranged in a rectangular surrounding pattern.
  • the third air holes 57 are arranged at the bottom of the bionic frame member 10 of the little finger bionic finger 51 and the index finger bionic finger 54.
  • Positive pressure is filled in the other three second bionic antagonist muscles 62, at which time one second bionic antagonist muscle 62 is axially extended and the other three second bionic antagonist muscles 62 are axially contracted, so that the bionic palm 50 is tilted to one side, and then the second bionic antagonist muscles 62 are cyclically inflated in a clockwise or counterclockwise order according to the above method, so that the rotation of the bionic palm 50 can be realized, simulating the rotational movement of the human wrist.
  • the bionic frame 10, the bionic finger module 20, the bionic soft coupling part 31, the bionic positive pressure contraction muscle 311, the first bionic antagonist muscle 40 and the second bionic antagonist muscle 62 are all integrally formed by 3D printing.
  • the 3D printing method can increase the manufacturing speed and can meet the rapid prototyping of complex bionic muscles. It can meet the needs of customized design according to the patient's hand joint size in the field of medical rehabilitation, thereby better meeting the needs of rehabilitation training, and also provides more possibilities for future innovation and development.
  • the external air supply device is connected to each multi-flexible body coupled pneumatic bionic through each first air hole 11.
  • an electromagnetic valve can be respectively arranged on the air path corresponding to each multi-flexible body coupled pneumatic bionic.
  • the different multi-flexible body coupled pneumatic bionic fingers can be bent or extended respectively.
  • the first bionic antagonist muscle 40 By filling the first bionic antagonist muscle 40 with positive pressure or negative pressure, the first bionic antagonist muscle 40 can be stretched and contracted, thereby realizing the abduction or adduction movement of the multi-flexible body coupled pneumatic bionic fingers.
  • the first bionic antagonist muscle 40 contracts axially, thereby pulling the adjacent multi-flexible coupled pneumatic bionic fingers closer to each other, realizing the adduction movement of the multi-flexible coupled pneumatic bionic fingers; and when the external air supply device charges negative pressure into the first bionic antagonist muscle 40, the first bionic antagonist muscle 40 extends axially, thereby pulling the adjacent multi-flexible coupled pneumatic bionic fingers apart from each other, realizing the abduction movement of the multi-flexible coupled pneumatic bionic fingers.
  • each second bionic antagonist muscle 62 By charging negative pressure into one of the second bionic antagonist muscles 62 and positive pressure into the other three second bionic antagonist muscles 62, one second bionic antagonist muscle 62 is axially extended and the other three second bionic antagonist muscles 62 are axially contracted, so that the bionic palm 50 is tilted to one side. Subsequently, each second bionic antagonist muscle 62 is cyclically inflated in a clockwise or counterclockwise order according to the above method, so that the rotation of the bionic palm 50 can be realized, simulating the rotational movement of the human wrist.
  • the grasping movement of the object can be realized, and by controlling the index finger bionic finger 54 and the thumb bionic finger 55 to bend inward and combine, the pinching movement of the object can be realized.
  • An embodiment of the present invention provides a rehabilitation device, including a bionic hand robot as described in Example 2.
  • the rehabilitation device is equipped with a bionic hand robot, and finger sleeves equivalent to human hand interaction components can be added to the bionic hand robot.
  • the device can be worn on the patient's hand to achieve hand rehabilitation training, and has the advantages of good flexibility and high safety of human-computer interaction.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)

Abstract

La présente invention divulgue un doigt bionique pneumatique accouplé à un corps flexible multiple, un robot à main bionique et un instrument de rééducation. Le doigt bionique pneumatique accouplé à un corps flexible multiple comprend : un élément de cadre bionique, l'élément de cadre bionique étant pourvu d'un premier trou de gaz utilisé pour un raccord avec un dispositif d'alimentation en gaz externe ; un module de doigt bionique relié de manière relativement rotative à la partie supérieure de l'élément de cadre bionique, le module de doigt bionique comprenant une pluralité de parties d'articulation qui sont reliées de manière relativement rotative en séquence ; et un mécanisme de puissance flexible relié à l'élément de cadre bionique et au module de doigt bionique et utilisé pour provoquer le déplacement des parties d'articulation, le mécanisme de puissance flexible comprenant une partie d'accouplement de corps flexible bionique et un câble d'entraînement. Le câble d'entraînement est utilisé pour tirer les parties d'articulation pour qu'elles se déplacent de manière synchrone, pour former un mouvement de flexion du module de doigt bionique ; la combinaison de la partie d'accouplement de corps flexible bionique et du câble d'entraînement remplace une structure rigide d'un robot existant, ce qui permet d'obtenir une force d'impact plus petite, d'améliorer la sécurité de l'interaction homme-machine ; en outre, le procédé d'entraînement pneumatique présente une meilleure flexibilité.
PCT/CN2023/137364 2023-11-14 2023-12-08 Doigt bionique pneumatique accouplé à un corps flexible multiple, robot à main bionique et instrument de rééducation Pending WO2025102460A1 (fr)

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Application Number Priority Date Filing Date Title
CN202311516018.2 2023-11-14
CN202311516018.2A CN117359666A (zh) 2023-11-14 2023-11-14 多柔体耦合气动仿生手指、仿生手部机器人及康复器械

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WO2025102460A1 true WO2025102460A1 (fr) 2025-05-22

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CN119405499A (zh) * 2024-11-08 2025-02-11 中国科学院苏州生物医学工程技术研究所 一种气动手部康复装置

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