论文标题
龙虾风格的机器人手套，用于手工康复
A Lobster-inspired Robotic Glove for Hand Rehabilitation
论文作者
论文摘要
本文介绍了使用龙虾启发的混合设计制造的手工康复手套的设计，开发和评估的初步结果，该设计具有刚性和软组件以进行致动。受龙虾弯曲腹部的启发，混合执行器是由内部加压软室串行的连接刚性壳制造的，以产生弯曲运动。这种生物探索吸收了具有精确定义的运动产生的经典刚性机器人技术的特征，以及具有轻量重量，物理安全和适应性驱动的新兴软机器人。描述了制造程序，然后进行实验，以机械地表征这些执行器。最后，为定性案例研究提出了与这些混合动力执行器集成的开放式手套设计。手动康复系统是通过从用户前臂的SEMG信号学习模式来开发的，以训练辅助手套进行手部康复运动。
This paper presents preliminary results of the design, development, and evaluation of a hand rehabilitation glove fabricated using lobster-inspired hybrid design with rigid and soft components for actuation. Inspired by the bending abdomen of lobsters, hybrid actuators are built with serially jointed rigid shells actuated by pressurized soft chambers inside to generate bending motions. Such bio-inspiration absorbs features from the classical rigid-bodied robotics with precisely-defined motion generation, as well as the emerging soft robotics with light-weight, physically safe, and adaptive actuation. The fabrication procedure is described, followed by experiments to mechanically characterize these actuators. Finally, an open-palm glove design integrated with these hybrid actuators is presented for a qualitative case study. A hand rehabilitation system is developed by learning patterns of the sEMG signals from the user's forearm to train the assistive glove for hand rehabilitation exercises.
