基于双手协作运动机理的仿人外肢体设计与协同控制研究

Hand is the most dexterous part of the human body and an important medium for interaction with the environment. The rehabilitation and enhancement of hand movement functionality is the only way for disabled patients to improve the quality of life, avoid physical and mental damage, and return to society. Emerging wearable supernumerary robots can innovate human limb morphology, break through the traditional limitations, and perform prominent potentials in enhancing hand movement and brain neural plasticity. However, the understanding of the potential application is still superficial until now, it is lack of the objective and quantitative scientific description, and the anthropomorphism of mechanical configuration and movement are highly limited, which seriously affect the movement ability supplement and enhancement effect of supernumerary robot. This project intends to take the human bimanual movement as the starting point, explore human tolerance grasp and manipulation ability of human bimanual cooperation through the behavioral experiment, objectively quantify the enhancement effect of supernumerary robot to the hand movement functionality, optimize the bimanual cooperative configuration, analyze the movement characteristics, develop the novel mechanical implementation and synergistic control methods, innovatively design the anthropomorphic supernumerary robot worn with bimanual movement functionality, and explore its neural plasticity, which will provide the latest scientific evidence for the enhancement of human grasp stability, tolerance range and manipulation dexterity. The achievements of this project are expected to raise new hopes for hand dysfunction patients with an ideal rehabilitation, and also can be applied to a wide field such as clinical surgery and military science.

手是人体最灵巧部分及与外界交互重要媒介，其运动功能康复重建或补充增强是改善障碍患者生活质量、免除身心受害、回归社会必由之路。新兴可穿戴机器人外肢体能创新人类肢体固有形态，突破传统局限，在增强手部运动功能与大脑神经重塑方面有突出新潜能。然而，至今对外肢体应用潜力认识尚处表浅、缺乏客观量化科学描述，机械构型和运动尚不拟人，严重影响外肢体可实现运动能力补充和增强效果。本项目拟以双手协作运动为研究切入点，通过行为学实验探索双手协作静态抓取容差能力和灵巧操作能力，客观量化阐述外肢体可实现手部运动能力的增强效果，优化双手协作构型，解析其运动规律，开拓双手协作运动机械复现和协同控制新方法，创新设计独具双手运动功能的单手仿人外肢体，探索其神经重塑机制，为赋予人手更稳、更广抓取和更灵巧操作性能提供最新科学依据。项目预期成果有望为手功能障碍患者理想康复带来新希望，还在外科临床、军事科学等领域具有广阔应用前景。

本项目以开拓人体运动能力增强新技术、研制新系统为主要目标，聚焦手部运动能力增强，研究了人手容差抓取下人手运动特征、双手协作下灵巧操作能力，建立了一套基于姿势协同原理复现人手抓取特征的机械设计方法，设计了便携式可穿戴的外肢体手指机器人系统，建立了不占用肢体固有自由度的“第六指”脑肌电协同控制策略，建立了外肢体多模反馈通路，探索了多水平触觉的脑响应机制，完成了600人▪时的神经可塑性训练，建立了基于fMRI静息态和任务态的脑神经可塑性模型。目前，已开展64例脑卒中患者实验，总体康复有效率达73%。脑机交互性能通过国家医疗器械质量监督检验，入选国家工信部和药监局“人工智能医疗器械创新任务揭榜单位”和《人工智能医疗器械产业发展白皮书》。本项目的研究成果可应用于脑卒中上肢功能障碍患者的临床康复训练，提升病人康复效果，减轻医师康复作业压力，推进我国智能医疗器械产业的转化与应用，具有较好的社会价值。