The Research And Analysis Of Human Hand Rehabilitation Training Robot Mechanism

The paper is based on the biological characteristics of human hands and robot theory. The robot mechanism was established respectively that applied to the thumb and index finger rehabilitation training, and the kinematics mechanism was analyzed used on the thumb and index finger rehabilitation training. And the research also focused on the corresponding work space and motion simulation.It has discussed the function of the motion parameters of the finger joints according to the analysis of human hand biological structure, which mainly include the structure of the human finger joints and the finger size. And the performance requirements and schemes were proposed on the basic of previous study, namely including to six rotational degrees of freedom thumb rehabilitation robot and 3 rotational degrees of freedom index finger rehabilitation training robot mechanism. According to the average size of the Chinese adults’ hand joints and the phalanx, it has calculated the theory size of the thumb and index finger rehabilitation mechanism. And it has established the single finger virtual model that used for the thumb and index finger rehabilitation training by using software of UG.Aim at establishment of the single finger virtual model used on thumb rehabilitation training, it has adopted the D-H parametric method to calculate the forward kinematics, antichange method to solve the kinematics inverse solution and differential transform method to compute the velocity Jacobi an matrix and the acceleration. Aim at establishment of the single finger virtual model used on index finger rehabilitation training, it has employed the closed loop vector method and coordinate transform method to calculate the solution and inverse solution of the kinematics and used differential change method to obtain the velocity and acceleration.It has employed programming software-Matlab to calculate the thumb and index finger rehabilitation workspace based on the motion analysis of the rehabilitation training robot. It has found that the robot’s range of motion is located in the range of the human thumb and index finger by analyzing the workspace. So it has lay the foundation of simulation analysis on kinematic mechanism of the thumb and index finger rehabilitation training robot.The paper has analyzed the kinematic simulation of the thumb and index finger rehabilitation training robot mechanism by proposing several simple rehabilitation training mode which respectively focused on the thumb and forefinger. It also used software UG to figure out curves of the thumb and index finger which included displacement, velocity and acceleration curves and to track the kinematic motion trail of these two fingers. The theory analysis has been proved by comparison of MATLAB software programming graph and theory analysis. The results of simulation analysis have indicated that the design of mechanism model is reasonable, the rehabilitation theory and scheme are feasible and the robot can undoubtedly be used in the rehabilitation training of patients with hand joint dysfunction.