Design Of Rehabilitation Manipulator For Hand Joint Movement Disorders Based On Biological Coupling Characteristics

In the field of rehabilitation of hand function,the rehabilitation manipulator has gradually entered the life of patients.Users need and product pain points such as decreased flexibility of knuckles,weakened grasping ability,safety and comfort cannot be guaranteed,limited scope of application gradually appear,aggravating the burden of patients leading to poor rehabilitation effect.In this paper,biological coupling is used to optimize man-machine functional requirements,focusing on solving functional disorders such as weak links in hand joints,finger flexibility,and grasping difficulties,aiming at building a flexible rehabilitation manipulator with comfortable wearing,safe structure and flexible adaptation.Firstly,according to the physiological characteristics of patients with hand joint movement dysfunction,rehabilitation needs and product pain points,the diversified needs of rehabilitation manipulator design are summarized,and the design functions and positioning are clarified.Then,with the help of task decomposition method,biological prototypes with target functions are retrieved by functional classification,and the elephant trunk is identified as the bionic model according to the screening principle.Based on the synergistic effects of configuration-structure-material-behavior and other factors of the elephant trunk,a multi-coupling bionic model is constructed and analyzed.Secondly,the analogical reasoning method is used to extract the deformable unit of the hand joint with the excellent characteristics of the elephant trunk for technical analogy,so as to realize the transformation of the biological system-rehabilitation manipulator design system.Finally,based on the biological coupling analysis,from the joint flexibility,gasket layout,fingertip touch as the foothold,the rehabilitation manipulator design scheme is obtained through specific analysis and simulation verification evaluation.Biological coupling bionics is used to solve the design problem of hand functional rehabilitation manipulator.Coupling analysis is carried out from three levels: problem decomposition layer,bionics determination layer and design solution layer.A multicoupling bionics model is established based on the characteristics of biological prototype,and the multi-coupling elements are applied to the innovative design practice of rehabilitation manipulator to realize the transformation from biological to product design system.Improve the design flexibility and applicability of rehabilitation manipulator,improve rehabilitation efficiency,avoid the limitations of traditional bionic design,and provide a reference for similar rehabilitation manipulator innovation design practice.