Design Of Mechanical Structure And Control System Of Hand Rehabilitation Robot

The clinical data demonstrated that the number of limbs paralysis caused by stroke and traumatic brain injury is obviously increased in recent years, most of them can't take care of themselves, and it not only results in tremendous physical and psychological pressure, but also brings a serious burden to their family and the society. The goal of this paper is to develop a novel wearable device for robotic assisted hand repetitive therapy. It can provide assistive forces required for grasping and finger extension, and solve the problems in traditional artificial rehabilitative training methods.In this thesis, the robot's mechanical structure is designed firstly and made to conform to the hand physiological characteristic. A pneumatic muscle (PM) is designed to driven therapeutic device. The robot is worn comfortably and safely. It suits to using in family and community. Base on this, the control system's hardware is designed. The system uses DSP chip TMS320F2812 and the SCM (Single Chip Microcomputer) C8051F020 coordination control mode. The DSP is mainly responsible for data acquisition, intelligent control algorithm and data output, and the SCM is responsible for the management of the peripheral circuit, the HCI (Human-computer interaction) etc. A dual-port RAM is used for high-speed communications and data sharing between the DSP and SCM. Eight digital-analog conversion channels are expanded to output control signal, so the system can control eight pneumatic muscles at the same time. The Robot system and computer can serial communication. The experimental data can be transferred to a computer for analysis and show feedback information to therapists and patients through a screen or other media (such as voice), and the system can also receive control command to set training pattern and training parameter from the computer. And the system has a LCD display and a keyboard, and also has 4MB FLASH memory. It can be used fully independent from the computer. Then, the article introduces the experience of designing four-layer PCB circuit board, and elucidates the matters needing attention in designing work. The system's hardware is debugged successfully, and the circuit can work steadily.CCS IDE is used to design and debug the software of system in this thesis. The system has realized data acquisition, communications, output control information, HCI, and other functions. The robot system is stable and reliable.