多构态共融手部康复外骨骼机器人的运动相容优化设计与控制方法研究

手部是脑卒中患者最难康复的部位之一，手部康复机器人是进行手功能康复训练的重要途径。但是目前手部康复外骨骼机器人一般仅具有单个构态，不能根据手部康复训练需求来切换运动模式，并且不能实现与人共融，极大地限制了其穿戴舒适性和康复效果。本项目拟从以下几个方面开展手部共融外骨骼机器人的关键技术研究:（1）引入恰约束运动链，研究多构态手部康复外骨骼机器人的运动相容机构设计方法，以解决手部康复外骨骼运动模式单一、运动相容性差等技术瓶颈问题；（2）研究多构态共融手部康复外骨骼机器人的建模、性能评价与优化方法，以优化手部外骨骼机器人的穿戴性能；（3）研究基于人机耦合动力学模型的手部康复外骨骼机器人的主被动控制方法，以提高该外骨骼机器人的控制性能。最后，进行手部康复外骨骼机器人的研制与实验，验证手部康复外骨骼机器人的有效性。因此，研究面向手功能康复辅助的共融手部外骨骼机器人具有重要理论意义和应用价值。

Hand is one of the most difficult parts for stroke patients to recover, and hand rehabilitation robot is an important way for hand function rehabilitation training. However, the present hand rehabilitation exoskeleton robots usually only have a single configuration. They can't switch the motion mode according to the requirements of hand rehabilitation training and can't achieve harmony with people, which greatly limits its wearing comfort and rehabilitation effect. This project proposes to study the key technology of coexisting-cooperative-cognitive (tri-co) hand rehabilitation exoskeleton robot from the following aspects: (1) by introducing kinematic chains with suitable constraint, study kinematic compatible mechanism design method of the multi-configuration hand exoskeleton robot to solve the technical bottleneck problems of hand rehabilitation exoskeleton, such as single movement mode and poor kinematic compatibility; (2) study the modeling, performance evaluation and optimization methods of the multi-configuration tri-co hand exoskeleton to optimize the wearing performance of the hand exoskeleton robot; (3) study the active and passive control methods of the tri-co hand rehabilitation exoskeleton robot based on human-machine coupling dynamic model to improve the control performance of the exoskeleton robot. Finally, the development and experiment of the hand rehabilitation exoskeleton robot are carried out to verify the effectiveness of the hand rehabilitation exoskeleton robot. Therefore, it is of great theoretical significance and application value to study the tri-co hand rehabilitation exoskeleton robot.