Mechanical Design And Analysis Of Finger Rehabilitation Training Device

With the maturity of the rehabilitation robot robot technology has become one of the most popular research direction in the field of mechanical engineering, its research content involves the biological(force), ergonomics, rehabilitation medicine, robotics and computer science etc. The function of the hand movement is the basic guarantee to the normal human life, study and work convenience. Patients with hemiplegia caused by external force and a variety of hand injuries are two main reasons for hand motion dysfunction or loss. The rehabilitation training in the treatment of the traditional way to many ordinary patients and their family brought a heavy economic burden and mental stress, therefore, a study of finger rehabilitation robot assisted with self rehabilitation training is very meaningful, with a wide range of social benefits.Based on the analysis of the biological characteristics of human hands, biological structure, motion characteristics and freedom constraint are studied, adhering to the "people-oriented" design concept combined with clinical rehabilitation requirements, formulate design principles and objectives of finger rehabilitation training device, select the reasonable training mode, and to select the appropriate mechanical system the control of drive mode and main parts.Then the MATLAB platform using the D-H parameter method for kinematics analysis of the thumb and index finger and the training mechanism based on, and analyzed by Monte Carlo method for solving the finger space; then use the second Lagrange equation based on the kinematic analysis of man-machine configuration on the calculated dynamic index.Finally based on ADAMS platform constructed virtual prototype kinematics index finger and training institutions and the kinematics simulation results based on MATLAB platform to its are general kinematics equation was used to calculate the results were compared to verify the correctness of the kinematics analysis; then to construct the dynamic model, and the people holding the punch / extension the trajectory of the forefinger as a prototype to set the drive parameters are simulated and analyzed and simulation results for the motor selection provides the basis.