Research On Finger Rehabilitation Device Based On Flexible Pneumatic Actuator FPA

Today's society, loss of motion capacity and the incidence of complications are in rise trend due to car accidents, fractures and other accidents or stroke and other diseases. Hand trauma patients need early care and careful rehabilitation after operation. In addition, hand recovery training of patients with hemiplegia and other disease due to brain damage, often need the help of equipment for hand rehabilitation training. Hand rehabilitation device basically use a rigid mechanical linkage and the motor drive at present. There are some problems on applicability, compliance, and security deficiencies. Therefore, research and development of finger rehabilitation device for patient recovery training has a vital role and significance.In order to deal with above-mentioned shortage, a new kind of finger rehabilitation device was made base on FPA bending joints according to anatomy of hands. On this basis, the EMG signal was pulled into for the control of finger rehabilitation device. The main study were designing the structure of finger rehabilitation device, analyzing EMG, designing signal classifier and planning control of finger rehabilitation device. The whole work as follow:1. Introducing the structural principle, mathematical model, characteristic curve of FPA, the bending joint based on FPA, and designing the structural of the finger rehabilitation device.2. According to principles of surgical anatomy, finding out the forearm muscle which related to the finger movements. Using Noraxon Myotrace 400 type surface EMG signal equipment to collect the EMG signal of the related muscle when finger in the different state of motion.3. Using different method to analyze EMG signal, such as time domain, frequency domain, the parameters model, time-frequency domain, and finding appropriate analysis method and significant eigenvalue.4. Designing the corresponding classifier of BP neural network according to the dimension of the eigenvalues, and classifying EMG signal of finger in the different state of motion.5. Designing the mode of rehabilitation and the control of finger rehabilitation device according to the patient's status.6. Establishing experiment platform for finger recovery training and testing finger rehabilitation device.In this dissertation, the finger rehabilitation device which had four fingers expect thumb was designed based on FPA and bending joint. Experiments show that the finger rehabilitation device can be a good completion of the recovery training task.