Design Of Hand Rehabilitation Robot System

In recent years, stroke patients have been increasing year by year in our country. Stroke is a group of diseases manifested by the main symptoms as brain ischemic and hemorrhagic, it is with high mortality and morbidity and is a common disease in the elderly. In the sequelae of stroke, the hand dysfunction is one of the most common obstacles in the post-stroke patients. It seriously affects the patient’s activities of daily living and brings a heavy burden to the patient’s family and the society.With the acceleration of the trend of an aging population, the post-stroke patients are increasing year by year, but the rehabilitation physician and rehabilitation resources are very deficient, so most patients tend to choose their training at home. It results in inadequate training intensity, lack of scientific training methods and blurring training steps. That means more patients are missing the best time to rehabilitation and gradually lost the whole mechanism function of the hand. With the development of computer science and technology, robotic technology began to be used in the medical field of rehabilitation. To develop the medical rehabilitation robots and use the medical rehabilitation robot to ease the shortage of physicians contradictory and make the patients take self-training will be the future development trend of the home care in our country.After analyzing the research and application of the hand rehabilitation robot in and out abroad deeply, a hand rehabilitation robot system based on data glove is designed in this thesis. The system consists of several parts, such as 5DT Data Glove, rehabilitation robot body, the robot controller and the PC.The hardware system design of the hand rehabilitation robot is proposed. The mechanical structure of the hand rehabilitation robot system is designed with a flexible end traction program, and the system control circuit is designed according to the control need. The circuits mainly include the power supply circuit, the signal acquisition circuit, the microcontroller processing circuit, the motor drive circuit and the USB communication circuit. The lower machine control program is designed according to the MCU processing plan. The data glove is introduced and the raw data acquisition and processing of the data glove is realized.The software system of the hand rehabilitation robot is designed with OpenGL techonology, Visual C++ and the NI controller. It consists of several modules such as the finger end position information display module, the training mode and parameter selection module, the design of virtual reality environment and the the database information management module. The rehabilitation training game module is consisted in the design of virtual reality environment.The functions of different modules in this system are verified to be fine by making several experiments, including the experiment of the combination effect between the data glove and virtual hand model, the rehabilitation model experiment, the rehabilitation training game experiment and the database function experiment. The expected functions are achieved in this thesis.