A Study On Structure And Control System Of Finger Rehabilitation Equipment

With the accelerated aging trend of the population, the incidence of stroke hasbecome bigger and bigger in our daily life in China. Most stroke will beaccompanied by movement disorders, and they need care and rehabilitation inhospitals, which increases the burden for families and the society. An assessment ofthe need of patients with chronic stroke was conducted recently, and the results showthat stroke patients mostly want to restore the normal function of the handmovement capabilities for its great usage in daily life.Based on the theory of Continuous Passive Motion and Evidence BasedMedicine, continuous passive motion plays a great role in promoting therehabilitation of the sick fingers. Rehabilitation Manipulator can haul fingers tocomplete continuous passive motion, which can help hand trauma patients recoverquickly.This paper introduces the research of rehabilitation manipulators at home andabroad first. According to the physiological characteristics of the fingers, analysis ofshortcomings and deficiencies of existing rehabilitation robots, a structure ofrehabilitation with single degree of freedom which runs smooth by bringing in theball screw drive is designed in the paper. The structure was proved workable byanalyzing the kinematics and dynamics, and39BYG small stepper motor wasselected as the driving source. On this basis, hard ware of the rehabilitation manipulator control system is designed in this paper. Besides, STM32F103ARMmicroprocessor was used for peripheral circuits, and position sensors and forcesensor sensors was used to show feedback to the movement and patientsrehabilitation information at the same time. The operation interface was made byLabVIEW, user-friendly and easy to operate, can regulate the patients’ fingers tobend and stretch effectively. By regulating the speed of movement, rehabilitationtraining will adapt to different levels of the patient.Finally, a rehabilitation manipulator was manufactured and used forexperimental study, including different finger length adaptation experiment, the limitposition control experiment and continuous passive motion experiment.