面向手部康复的仿生外骨骼机构及人机混合控制策略研究

手部康复机器人是辅助手部关节及手指弯曲伸展康复训练的机械装置，该机器人可加强肌肉肌腱的强度锻炼并激活运动皮质，提高手部运动功能恢复效果。目前其在仿生外骨骼机构、控制策略、以及人机交互等方面还存在诸多问题。本项目研究新型手部仿生外骨骼机构，解决以往机构不能自适应不同患者手指生理参数问题；建立人手-外骨骼生物机械力学模型，研究通过该模型将患手与机器人的控制系统联接起来的方法，并根据患手的实际康复生理状态实现手部康复机器人人机混合控制策略；为提高康复训练过程中患者的主动性，研究手部康复机器人人机交互方法，促使患者主动参与康复训练，从人机交互的层面提高手部康复机器人人机协同工作能力。本项目成果不仅可以为患者提供康复效果好、安全性高、人性化的手部康复设备，促进我国医疗康复机器人技术发展，而且对于类似人机混合系统的控制策略和人机协同等共性问题的研究，具有重要的科学意义和学术价值。

Hand rehabilitation robot is a typical kind of medical robots to promote effect of rehabilitation movements for human hands. It uses mechanical devices to assist in rehabilitating human fingers and their bending-extending movements, enhancing exercise intensity of muscles and tendons, and activating motor cortex effectively. Currently, there are still many limitations in bionic exoskeleton mechanism, control strategy, and human-machine interactions, etc. This project proposes a novel bionic exoskeleton for the hand rehabilitation robot to solve the inadaptation to various physiological parameters of the patients' fingers; This research founds the biomechanical model of the exoskeleton-hand system, proposes a method to connect the patients' hands with the control system of the robot through the model, and a human-machine hybrid control strategy based on actual physiological conditions of the patients' hands for the hand rehabilitation robot; In order to promote patients' activity in the process of rehabilitation, this work constructs a human-machine interactive system urging the patients to participate in the rehabilitation process actively, that is to say, the human-machine cooperative competence can be enhanced from human-machine interactive perspective. Fruits of this project not only provide patients with safe, comfortable, effective, and amenable hand rehabilitation device, and improve the development of rehabilitation robot in our country, but also make sense to common problems as method development and competency enhancement for human machine hybrid control system, whether in scientific or academic views.