用于灵活移动的软机器人外骨骼手套——迈向个性化康复
Soft Robotic Exogloves for Dexterous Mobility -- Towards Personalized Rehabilitation
AI总结：
研究针对软机器人外骨骼手套适配问题，通过拓扑扫描等实现手部个性化，利用有限元分析等方法进行建模测试，在多方面实现创新，为外骨骼手套设计优化及精细运动技能康复助力奠定基础。
摘要：
软机器人外骨骼手套可提供手部康复和辅助。然而，其适配通常依赖非个性化的标准测量，限制了效果，尤其不利于灵活操作所需的精细关节活动。本文介绍了一种个性化气动软机器人外骨骼手套的设计、制造、建模和测试。通过拓扑扫描贴合用户手部，采用硅胶模铸制造。利用有限元分析评估致动器弯曲及人机物理交互力，进行气压控制实验以弯曲用户手指。制造结果表明拓扑扫描可精确贴合手部解剖结构，模拟显示解剖个性化有助于分析人机物理交互接触力，气压测试表明压力控制能实现掌指关节和近端指间关节的精准靶向活动。多种设计测试表明放松应变限制层可改善致动时致动器与手指关节的对齐。这项工作在结构适应性、关节拓扑、人机物理交互接触建模和随时间变化的致动-变形曲线方面实现了手部个性化，为优化外骨骼手套设计以助力精细运动技能的灵活操作和神经肌肉康复奠定了基础。
英文摘要：
Soft robotic exogloves can provide hand rehabilitation and assistance. Fitting these gloves often relies on standardized measurements not tailored to the individual, limiting their effectiveness, especially for fine articulation necessary for dexterous manipulation. We present the design, fabrication, modeling, and testing of a personalized pneumatically-actuated soft robotic exoglove. The glove was fit to a user's hand with topological scans and fabricated with silicone mold casting. Finite element analysis (FEA) was performed to evaluate actuator bending and forces from physical human-robot interaction (pHRI) between an actuator and a simplified personalized biomechanical finger model. Pneumatic pressure control experiments were conducted to flex the user's finger with static and dynamic references. Fabrication results show that topological scans enable precise tailoring to hand anatomy. Simulations showed that anatomical personalization enables analysis of pHRI contact forces, and results indicate sufficient joint mobilization with non-ideal compression on the proximal phalanx. Pneumatic testing indicates that pressure control allows accurate and targeted mobility of the metacarpophalangeal (MCP) and proximal interphalangeal (PIP) joints with intrinsic stiffness. Testing of multiple designs showed that relaxing the strain-limiting layer improves actuator-to-finger joint alignment during actuation. This work presents personalization to the human hand in structural conformability, joint topology, modeling of pHRI contact, and time-dependent actuation-deformation profiles. This lays a groundwork for informing exoglove design optimization to enable assistance in dexterous manipulation and neuromuscular rehabilitation of fine motor skills.
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。
