一种辅助手指屈伸运动的五杆机构：系统实现
A five-bar mechanism to assist finger flexion-extension movement: system implementation
AI总结：
本文提出一种基于五杆机构的末端执行器原型，通过梯度法优化尺寸并在关节空间采用五阶多项式位置控制，实现手指自然屈伸运动辅助，实验验证其轨迹控制有效性，有助于手部损伤患者康复。
摘要：
缺乏专业人员和辅助技术来支持康复治疗是当今卫生部门面临的挑战之一，且预计这一问题还会加剧。对研究人员和工程师而言，这代表着一个创新和开发设备的机会，以改善和优化康复服务，造福社会。在不同类型的损伤中，手部损伤发生得最为频繁。这些损伤需要康复过程，以便手部恢复其功能。本文介绍了一种基于五杆构型的末端执行器原型的制造与仪器化，用于手指康复，执行自然的屈伸运动。其尺寸通过梯度法优化获得，并在Matlab中进行了评估。开展了实验测试，以证明该原型的功能性以及五杆机构在垂直平面内作用时的有效性，其中重力会影响机构的性能。在关节空间中实现了使用带途经点的五阶多项式进行位置控制。还通过理论比较评估了末端执行器的设计，该比较是根据手指真实屈伸轨迹与通过IMU获得的旋转角度计算得出的。结果表明，在轨迹的多个点控制机构的两个自由度，可以保证末端执行器的轨迹，从而保证手指的活动范围，这有助于患者的完全康复。
英文摘要：
The lack of specialized personnel and assistive technology to assist in rehabilitation therapies is one of the challenges facing the health sector today, and it is projected to increase. For researchers and engineers, it represents an opportunity to innovate and develop devices that improve and optimize rehabilitation services for the benefit of society. Among the different types of injuries, hand injuries occur most frequently. These injuries require a rehabilitation process in order for the hand to regain its functionality. This article presents the fabrication and instrumentation of an end-effector prototype, based on a five-bar configuration, for finger rehabilitation that executes a natural flexion-extension movement. The dimensions were obtained through the gradient method optimization and evaluated through Matlab. Experimental tests were carried out to demonstrate the prototype's functionality and the effectiveness of a five-bar mechanism acting in a vertical plane, where gravity influences the mechanism's performance. Position control using fifth-order polynomials with via points was implemented in the joint space. The design of the end-effector was also evaluated by performing a theoretical comparison, calculated as a function of a real flexion-extension trajectory of the fingers and the angle of rotation obtained through an IMU. As a result, controlling the two degrees of freedom of the mechanism at several points of the trajectory assures the end-effector trajectory and therefore the fingers' range of motion, which helps for full patient recovery.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
