Development of Multi-DOF Forearm Prosthesis

多自由度前臂假体的研制

基本信息

批准号：
06650289
负责人：
KOGANEZAWA Koichi
金额：
$ 1.28万
依托单位：
Tokai University
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (C)
财政年份：
1994
资助国家：
日本
起止时间：
1994 至 1995
项目状态：
已结题

项目摘要

The first step of this research was to develop a new actuator named AMA (Antagonistic Muscle-like Actuator) which has fundamentary identical performance to human articulation with antagonistic muscles structure. Theoretical study of controlling AMA revealed that AMA is able to control the stiffness of joints in the wide range when non-linear springs are combined into it. The structure of the AMA is summarized as follows : A pair of ball-screws controls one degree of freedom. They are driven by only one DC-motor while some driving modes are altered by the gears which are driven by oen stepping motor There are three typical driving modes. (1) Single Driving : One ball-screw is rotated. (2) Ipsilateral Driving : A pair of ball-screws are simultaneously rotated along the same direction. This mode are mainly used to adjust the stiffness of the joint. (3) Contralateral Driving : A pair of ball-screws are simultaneously rotated along the opposite direction. This mode are mainly used to rotate the joint. The ball-screw nuts and the axis of joints are connected by the wire via non-linear springs. The most effective advantage of this mechanism is that one AMA can control some DOFs and this application of the AMA into active prosthesis whch has severe volume and weight limitation. Then it follows the developmen of multi-DOF forearm prosthesis as an application of the AMA.The multi-DOF forearm prosthiesis developed has six DOFs total ; two DOFs for the wrist and four for the two fingers. Only one DC-motor and one stepping motor drive and control the overall DOFs. The non-linear springs enable the adjustment of the stiffniess from almost all free to completly rigid. A finger has compound four bar linkages with planet gears system, which enables three joints of a finger (PIP DIP and MP joints) automatically adjust their flexion angle according to shape of an object to be grasped. The control experiments revealed the developed system performed well.

这项研究的第一步是开发一个名为AMA的新执行器（类似拮抗肌肉的执行器），该执行器与拮抗肌肉结构具有基本面相同的表现。控制AMA的理论研究表明，当将非线性弹簧合并到其中时，AMA能够控制宽范围内关节的刚度。 AMA的结构总结如下：一对球螺钉控制一个自由度。它们仅由一个直流电动机驱动，而某些驾驶模式则由由Oen踏脚电机驱动的齿轮改变，有三种典型的驾驶模式。（1）单驾驶：一个球螺钉旋转。（2）同侧驾驶：一对球螺钉沿着同一方向同时旋转。该模式主要用于调节关节的刚度。（3）对侧驾驶：一对球螺钉沿相反方向同时旋转。此模式主要用于旋转关节。球螺钉螺母和关节轴通过线通过非线性弹簧连接。该机制的最有效优势是，一个AMA可以控制某些DOF，而AMA将AMA应用于主动假体具有严重的体积和重量限制。然后，它遵循多道前臂假体的开发人员作为AMA的应用。开发的多道前臂假体共有六个DOF。手腕的两个DOF，两个手指的四个DOF。只有一个直流运动和一个踏上运动驱动器并控制整个DOF。非线性弹簧可以使僵硬的僵局从几乎全部自由调整到完全刚性。手指与行星齿轮系统具有复合的四个条形连接，这使手指的三个接头（PIP浸入和MP接头）根据要抓住的物体的形状自动调整其屈曲角度。控制实验揭示了开发的系统的性能很好。