Research Of Finger Rehabilitation Training System Based On Force Feedback Using Magnetorheological Damper

In recent years, researchers have started to introduce robotics to the field of rehabilitation for hemiplegia, assisting finger rehabilitation of patients with hemiplegia, which has achieved good results in clinical application. The research on finger rehabilitation training system is still not mature, so the study of this filed presents important significance and application prospects.In the beginning, this paper introduces the background and significance of finger rehabilitation system and analyzes the deficiencies of the force feedback device by reviewing recent researches. The research of finger rehabilitation training system based on force feedback using magnetorheological damper is established. Then the design goal of finger rehabilitation training system is determined based on the theory of hemiplegia rehabilitation. This finger rehabilitation training system is composed by force feedback driving device that is based on Magneto-Rheological Damper, sensing device, mechanism for finger exercise and the control system.During the research of the finger rehabilitation training system, this paper has obtained the following achievements:(1) The magnetorheological damper is designed of which the output torque is measured and analyzed. And the driving device based on force feedback using magnetorheological damper is designed. (2) According to the analysis of fingers’ biological characteristics and the needs of patients with hemiplegia, the finger exercise mechanism is designed, which can assist patients’fingers to complete grip and stretch. Also the kinematics and mechanical properties are analyzed. (3) Research has been carried on about software and hardware control system, and the communication between the controller and interface of the host PC is realized using USB protocol. (4) In order to meeting the needs of patients in different periods of rehabilitation, different finger rehabilitation training modes have been designed.Finally, in order to validate the reliability, stability, comfortability and effectiveness of different training modes of the system, the thesis conducts a series of experiments on the finger rehabilitation training system.