CAJ | 학술논문

本文提出一种新的基于脑电信号控制的外骨骼手指康复机器人系统，该系统主要由外骨骼手指康复机器人、脑电信号系统（EEG）、肌电信号系统（EMG）、人机交互系统、电机控制单元、相关传感器和工作站组成。患者通过外界的视觉刺激产生脑电信号，工作站经过对这些信号采集和处理后传递给电机控制单元控制，并驱动电机实现穿戴在患者手上的外骨骼手指机器人运动，辅助其完成康复训练。该机器人主要采用欠驱动的方式，由安装在手背处的电机带动同步齿形带传动机构实现机器的三个关节的弯曲和伸展运动。文章主要利用UG软件对手指机器人进行设计和ADAMS软件进行运动仿真。根据机器人运动轨迹和机器人末端的运动参数曲线可以看出该手指机器人具有运动平稳，不存在运动死点等特点，且机器人能满足人体手指的运动要求，符合人体工学的设计特点，仿真实验证明能够辅助患者进行重复性康复训练。
본문제출일충신적기우뇌전신호공제적외골격수지강복궤기인계통，해계통주요유외골격수지강복궤기인、뇌전신호계통（EEG）、기전신호계통（EMG）、인궤교호계통、전궤공제단원、상관전감기화공작참조성。환자통과외계적시각자격산생뇌전신호，공작참경과대저사신호채집화처리후전체급전궤공제단원공제，병구동전궤실현천대재환자수상적외골격수지궤기인운동，보조기완성강복훈련。해궤기인주요채용흠구동적방식，유안장재수배처적전궤대동동보치형대전동궤구실현궤기적삼개관절적만곡화신전운동。문장주요이용UG연건대수지궤기인진행설계화ADAMS연건진행운동방진。근거궤기인운동궤적화궤기인말단적운동삼수곡선가이간출해수지궤기인구유운동평은，불존재운동사점등특점，차궤기인능만족인체수지적운동요구，부합인체공학적설계특점，방진실험증명능구보조환자진행중복성강복훈련。
In this paper, a novel exoskeleton finger rehabilitation robot system based on EEG signals is proposed, and the system consists of an exoskeleton finger robot, one EEG system, one human-computer interaction system, one motor control unit, some sensors and a workstation. Patients produce the EEG signals by the visual stimulation, and after the workstation collects and analyzes these signals, it is sent to the motor control unit to drive the robot motion that is fixed on the patient's finger to assist patient in finishing the rehabilitation tralning. The finger robot malnly adopts the underactuation method, and it can achieve the flexion and extension motion of three joints through the synchronous toothed belt transmission mechanism driven by the motor fixed on the back of the hand. Meanwhile, the paper adopts the UG software to design the robot and ADAMS software to the kinematic simulation. According to the robot trajectory and the movement parameters curve of the robot end-effecter, it shows that the exoskeleton finger robot motion is smooth without the motion dead point, and robot can satisfy movement requirements of the human finger, and accord with design characteristic of the ergonomic, which means that it has the ability to assist patients to implement the repeatability rehabilitation tralning.