基于连杆机构的手指外骨骼设计

手指在人类生活中发挥着重要作用，它们的健康直接影响着人们的生活质量。如果由于疾病或者意外导致单个或多个手指功能性损伤，就需要对手指进行康复训练。为了降低康复师的工作强度，提高康复效率，利用外骨骼进行康复训练是很好的选择。本文结合人体工程学相关知识，根据手指弯曲与伸直时的运动特性和规律，基于连杆机构设计了一款面向手指康复的外骨骼机构。该机构具有三个自由度，各关节之间的距离可以根据不同手指的长短进行调节，具有广泛的适用性，不会对手指造成二次损伤。采用3D打印技术制作该外骨骼，总体质量小，制作成本低，符合绿色制造的理念。最后，通过穿戴实验验证了所设计的手指外骨骼能够满足康复训练的需求，并且适用于不同的手指。

Design of a Finger Exoskeleton Based on a Novel Linkage Mechanism

Fingers play a significant role in human life, whose health directly affect living standards. When illness or accident causes functional impairment of single or multiple fingers, fingers should receive rehabilitation training. To reduce working intensity of physical therapist and improve treatment efficiency, rehabilitation training with finger exoskeleton is a great choice. In this paper, ergonomics and kinematic characteristics of finger bending and straightening are applied to design finger exoskeleton. An exoskeleton is presented for finger rehabilitation based on a novel linkage mechanism, which has three degrees of freedom. The distances between joints can be adjusted according to the lengths of different fingers. Thus, this finger exoskeleton has a widespread applicability, and do not cause finger secondary damage. 3D printing technology is used to manufacture this finger exoskeleton, which leads to low mass and cost, and complies with the Green Manufacturing. Last, the application results show that this finger exoskeleton meets the requirements of rehabilitation training, and is suitable for different fingers.