Design And Research Of Hand Rehabilitation Robot

Hand rehabilitation robot is arobot-assisted rehabilitation medical trainingequipment that combining the rehabilitation medical theory and robotics. It ismainly to help the hand injuries or the hemiplegia patients do rehabilitationtraining. So it can gradually recover hand joint movement and assistbending，stretchingor other kinds of movement of each finger. And it also can help toachieve a variety of rehabilitation movement forms a single or multiplefingers through the control system.Firstly this paper systematically studied the basic theory and relevantmedical hemiplegia caused by stroke hemiplegia and rehabilitation therapymethods，thus clearly targetedthe tasks and goals is to develop a safe,comfortable, lightweight and reliable hand rehabilitation robot. Hence it canhelp the hemiplegia patients do rehabilitation exercise to achieve a moreself-reliant life and meanwhile recover partial muscle function of hand.Secondly，during the process of the research and design，based on thedeep study of the domestic and abroad research and products of handrehabilitation roboticsthis paper analyzed the structure and kinematics of hand according to the biomechanical properties and physiological characteristics ofthe human hand of the hemiplegic patients, including abnormal movementpatterns of their fingers and recovery methods of the finger motion.Combining with the design requirements of rehabilitation robots， wedeveloped the whole mechanical exoskeleton structure with multi-degree offreedom and carry out the three-dimensional model of hand rehabilitationrobot through the software UG. And then we made the simulation analysis ofits flexion/extension movement based on the kinetic analysis function of thesoftware. Thus it verified the correctness of its kinematics, but also to verifythe reasonableness of mechanism design.Then we used pneumatic muscle with good flexibility as system actuatorto design the pneumatic control circuit. It could achieve precise control of theposition and velocity of finger joints’ movement by applying PLC controllerto control the proportional pressure regulator. And it also could adjust therehabilitation training intensity.Finally, we confirmed the feasibility and reliability of the handrehabilitation robot through experiments. It was reasonably designed, stableoperation and it can basically meet the clinical rehabilitation requirements ofthe hemiplegia patients to do hand rehabilitation training. Hence，it laid the foundation for further research and development of hand functionrehabilitation robot.