Design And Research Of Flexible Soft-driven Rehabilitation Manipulator

With the rapid development of robot technology and its wide application in the medical industry,hand function rehabilitation robot has developed rapidly.The traditional rigid exoskeleton rehabilitation manipulator mainly uses connecting rod,pull wire or rack and pinion as the main mechanism.The complex mechanism causes the large size and weight of the manipulator,and the existence of rigid impact.Once the rotation axis of the mechanism is inappropriate for the patient in the training,it will lead to secondary injury of the patient’s hand.The flexible rehabilitation manipulator is lightweight and portable,and can naturally guide the human hand to move according to its own appropriate trajectory,while the portability of the mechanism is generally improved.However,due to the inherent characteristics of flexible materials,it is difficult for flexible fingers to have the bidirectional active bending ability,and the kinematic modeling and Angle control of flexible rehabilitative hands become difficult.Therefore,we have developed a new flexible soft-driven rehabilitation manipulator,which is lightweight and portable and can be bent actively in both directions to assist users in rehabilitation training.The specific research contents of this paper are as follows:(1)Design of flexible soft-driven rehabilitation manipulator.By analyzing the physiological structure characteristics of the normal human hand,the clinical manifestations of the patient’s hand damage and the bending process of the human finger,the design requirements of the flexible rehabilitation robot are put forward.According to the design requirements,the structural design of the flexible finger and the overall structural design of the rehabilitation manipulator are completed.By selecting the size material of the flexible finger,and selecting the motor and driver,the fabrication and experimental verification of the flexible finger is completed.(2)Kinematics Modeling of flexible soft-driven rehabilitation manipulator.By analyzing the flexural mechanical properties of flexible fingers,the kinematic modeling of flexible working fingers was completed based on the constant curvature model and cantilever beam model.The experimental error analysis was used to verify the model,and the Angle compensation strategy was used to optimize the model to improve the accuracy of the kinematics model.(3)Design of control system for rehabilitation manipulator with flexible soft drive.Complete the top-level design of the control system and the design of the sensor module,controller module,and host computer module.The closed-loop feedback control algorithm is designed based on the kinematic model of the flexible finger,and the algorithm is simulated and verified,and the feasibility and stability of the control system are verified by single-finger and multi-finger control experiments.(4)Experimental research on flexible soft drive rehabilitation manipulator.Complete the production of the experimental prototype and the construction of the experimental platform.The passive rehabilitation training experiment and bearing capacity experiment of rehabilitation manipulator were completed,and the key joint angles and bearing capacity were collected for data analysis.Through experiments,it is proved that the flexible soft-driven rehabilitation manipulator designed in this topic meets the design requirements,has practical application performance,and can assist patients to complete passive rehabilitation training.