طراحی ، ساخت و کنترل ربات توان‌بخشی برای حرکت انگشتان دست

نوع مقاله : مقاله پژوهشی

نویسندگان

دانشکده مهندسی مکانیک، دانشگاه تربیت مدرس، تهران،ایران

چکیده

      سکته مغزی امروزه یکی از عوامل شایع ناتوانی دست است که برای بازیابی عملکرد آن از اسکلت‌های بیرونی رباتیک استفاده می‌شود. در این پژوهش، طراحی و ساخت نمونه اولیه ربات پوشیدنی مبتنی بر پارچه ارائه شده‌است که قابلیت حرکت همزمان انگشتان دست و تنظیم سرعت را دارد و از روش کابلی برای کمک به حرکت خم‌شدن و برای کشش و بازشدن انگشتان از تیغه‌های فنری استفاده‌ شده‌است که کابل‌ها به کمک نیروی موتور گیربکس جمع‌شده و با معکوس‌شدن جهت حرکت موتور و نیروی فنرها انگشتان به حالت طبیعی برمی‌گردند. بنابراین، برای تعیین محل مناسب قرارگیری اجزا از جمله تیغه‌های فنری و کابل‌ها شبیه‌‌سازی ربات در نرم‌افزار سالیدورکس انجام‌شده و به کمک آزمایش‌های تجربی، تیغه‌های فنری مناسب از نظر داشتن قدرت و نیروی مناسب انتخاب و در ادامه به کمک مدار مدولاسیون پهنای باند و برنامه‌نویسی در میکروکنترلر، حرکت و سرعت ربات‌ ساخته‌شده، کنترل ‌شده‌است. در این پروژه، با تعریف پارامترهای تاثیرگذار در عملکرد یک سیستم و استفاده از نمره‌دهی به سوالات یک پرسشنامه مبتنی بر پارامترهای تاثیرگذار، سیستم ارزشیابی شد. پس از بررسی میانگین نمرات هر یک از پارامترها، مدت زمان یادگیری کار با سیستم، بالاترین میانگین را کسب نمود که بیانگر کاربرپسند‌بودن سیستم و پارامتر مربوط به احساس راحتی انگشتان در دستکش کمترین میانگین را به دلیل ساختار متراکم دستکش به خود اختصاص‌داده‌است.

کلیدواژه‌ها

موضوعات


عنوان مقاله [English]

Design, build and control the rehabilitation robot to move fingers

نویسندگان [English]

  • Niloufar Azadi Sohi
  • Majid Sadedel
  • Majid Mohammadi Moghadam
Department of Mechanical Engineering, Tarbiat Modares University, Tehran, Iran
چکیده [English]

This research presents the design and development of a prototype fabric-based wearable soft exoskeleton. The soft glove assists the flexion and extension motion of the user’s hand with adjustable speed. The cable method is used to help bending fingers and for extending the fingers, spring blades have been used, the cables are gathered with the help of the gearbox engine and the fingers return to their normal state by reversing the direction of the engine and the force of the springs. With bandwidth modulation circuits and programming in the microcontroller, the movement and speed of the built robot are controlled. In order to determine the appropriate placement of components, including spring blades and cables, robot simulation was performed in SolidWorks software, and with the help of experimental tests, suitable spring blades were selected in terms of strength and force. The resulted soft glove is attached on the human healthy hand for assisting the finger flexion and extension. Based on the test result, the proposed system obtained the highest average for the duration of learning to work with it, which indicates user-friendliness. the parameter related to the feeling of comfort of the fingers in the glove has the lowest average due to the dense structure of the glove.

کلیدواژه‌ها [English]

  • Stroke
  • Finger rehabilitation
  • Wearable robots
  • Cable power transmission method
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