Design Of Finger Rehabilitation Training System Based On Force Feedback Using Magnetorheological Technology

In recent years,with the development of robot technology,the researchers combined with the information science,virtual reality and other technologies,based on the theory of modern rehabilitation medicine,to assist patients with rehabilitation training,and in the clinical it has made very good results.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 thesis introduces the background and significance of finger rehabilitation system and analyzes the deficiencies of the force feedback device by reviewing recent researches.According to the needs of rehabilitation theory,the design requirements and principles of hand function rehabilitation training system are determined,and the overall design framework of the system is put forward.During the research of the finger rehabilitation training system,this thesis has obtained the following achievements:(1)According to the analysis of fingers' biological characteristics and the needs of patients with hemiplegia,using magnetorheological fluid technology,the finger exercise mechanism is designed,which can assist patients' fingers to complete grip and stretch.Also the kinematics and mechanical properties are analyzed.(2)Research has been carried on about software and hardware control system,and the communication between devices using USB protocol.(3)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 and effectiveness of different training modes of the system,the thesis conducts a series of experiments on the finger rehabilitation training system.