The Design And Research Of Hand Rehabilitation Robot

With the development of society and rehabilitation medical technology, people givemore and more attention to the limbs disabled, and the rehabilitation method becomes moreand more advanced. Based on the human bionics, rehabilitation physics, rehabilitationchemistry, mechanism, rehabilitation and computer science technology, the author developsa new arm rehabilitation robot, which can help the patients complete passive trainingincluding forearm swinged, palm curved and splayed and figure bended in order to recovertheir original function.Firstly, based on the human arm physiological structure and bionics, the paper designsthe mechanical structure of the rehabilitation robot. It includes forearm mechanism, palmmechanism and finger mechanism. The forearm mechanism includes an adjustablemechanism that can adapt to different height of patients. The kinematics analysis of therehabilitation robot is given with the D-H method, getting its forward kinematics andinverse kinematics formula, and the kinematics equations are proved.Secondly, the paper chooses the gas as drive form of the rehabilitation robot, realizesthe human motion according to the drive force that is produced by muscle, chooses thecylinder as executive component; designs the reasonable pneumatic schematic diagramaccording to the movement that needs realized by rehabilitation robot. The gas drive systemof the rehabilitation robot is composed with appropriate components.Finally, the paper has a research on control issues of the rehabilitation robot, anddesigns three control ways including the switch control, remote control and computercontrol. The switch control and remote control is suitable for family and computer control issuitable for hospital and rehabilitation center. The experiment shows the feasibility ofcontrol form and forearm, palm finger movement.In addition, the author develops a complete rehabilitation robot, and took part in the10thcollege students’ mechanical innovation design competition of Liaoning province in 2011, won the second prize in the competition.