Trajectory Synthesis and Linkage Design of Single-Degree-of-Freedom Finger Rehabilitation Device

IF 4.6 Q2 MATERIALS SCIENCE, BIOMATERIALS

ACS Applied Bio Materials Pub Date : 2024-07-06 DOI:10.3390/act13070256

Ping Zhao, Yang-peng Wang, Yating Zhang, Yong Wang

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引用次数: 0

Abstract

For injured and after-stroke patients who temporarily lose their hand’s grasping abilities, assisting them in regaining their index finger mobility is very important in the rehabilitation process. In this paper, a finger rehabilitation device based on one degree-of-freedom (DOF) linkage mechanism is designed, aiming to lead the index finger through the flexion–extension trajectory during grasping tasks. Two types of one-DOF mechanisms, a four-bar linkage and a Watt-I six-bar linkage, are synthesized for the task trajectory. Various algorithms such as PSO, GA, and GA–BFGS are adopted and compared for the synthesis of these two types of mechanisms, among which the Watt-I six-bar linkage obtained with GA–BFGS shows the optimal performance in accuracy. Clinical biomechanical data are utilized to perform static analyses of the mechanisms, and the feasibility of the Watt-I six-bar linkage models is tested, compared, and demonstrated. Finally, the prototype of the six-bar linkage as well as a wearable exoskeleton finger rehabilitation device are designed to show how they are applied in the finger rehabilitation scenario.

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单自由度手指康复装置的轨迹合成与联动设计

对于暂时丧失手部抓握能力的伤员和中风后遗症患者来说，帮助他们恢复食指的活动能力在康复过程中非常重要。本文设计了一种基于一自由度（DOF）连杆机构的手指康复装置，旨在引导食指在抓握任务中完成屈伸轨迹。针对任务轨迹合成了两种一自由度机构，一种是四杆连杆机构，另一种是 Watt-I 六杆连杆机构。采用 PSO、GA 和 GA-BFGS 等多种算法合成这两种机构，并对其进行比较，其中采用 GA-BFGS 算法合成的 Watt-I 六杆连杆机构在精度方面表现最佳。利用临床生物力学数据对机构进行了静态分析，并对 Watt-I 六杆连杆机构模型的可行性进行了测试、比较和论证。最后，设计了六杆联动装置的原型以及可穿戴外骨骼手指康复装置，以展示如何将其应用于手指康复场景。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

ACS Applied Bio Materials Chemistry-Chemistry (all)

CiteScore

9.40

自引率

2.10%

发文量

464

期刊介绍： ACS Applied Bio Materials is an interdisciplinary journal publishing original research covering all aspects of biomaterials and biointerfaces including and beyond the traditional biosensing, biomedical and therapeutic applications. The journal is devoted to reports of new and original experimental and theoretical research of an applied nature that integrates knowledge in the areas of materials, engineering, physics, bioscience, and chemistry into important bio applications. The journal is specifically interested in work that addresses the relationship between structure and function and assesses the stability and degradation of materials under relevant environmental and biological conditions.