Researchers from Northeast Forestry University have developed a hand function rehabilitation exoskeleton driven by shape memory alloy (SMA) wires, addressing the common issues of high weight and poor comfort in wearable rehabilitation devices. The prototype weighs only 166 g, significantly lighter than existing SMA-driven systems, and achieves a maximum finger bending angle of 160° with an average fingertip force of about 6.5 N, sufficient for daily grasping tasks.
Key takeaways
- Design mimics human muscle-tendon actuation using SMA wires as artificial muscles and PE lines as tendons, with a 4× displacement amplification mechanism.
- Human-machine coupled kinematic and static models were constructed to accurately map SMA contraction to finger joint angles.
- A PSO-BP-PID control method based on SMA resistance feedback improves response speed and control accuracy compared to traditional PID.
- Prototype enables coordinated finger movements to grasp various common objects, meeting daily rehabilitation assistance needs.
The exoskeleton integrates SMA actuators on both palmar and dorsal sides of a cotton glove, with channels for tendon routing. The SMA wires are heated electrically, and their resistance change is used for closed-loop control without external sensors. Experimental tests validated motion performance, grasping capability, and working temperature, demonstrating the device's potential for practical rehabilitation applications.
Source: 《机器人》期刊 (robot.sia.cn) · Published 2026-03-25 · “形状记忆合金丝驱动的手功能康复外骨骼设计与试验研究”