The Structure Design And Evaluation Of A Novel Exoskeleton Fingers Rehabilitation Robot

It was recognized that stroke was one of the three biggest diseases that threatening human's health,and the probability of hemiplegia caused by stroke was more than fifty percent,these patients' rehabilitation demand had caused great concern of society.In order to solve various problems such as structural complexity,no portable,hidden trouble in safety existing in research result at present,some rigidity and software exoskeleton fingers rehabilitation robots system both at home and abroad were studied in this paper,and a exoskeleton robot system combining with the advantages of both was designed,used to assist patients to stretch finger in the early rehabilitation.Before designing,we did some researches on the structure of human's hand,to understand hand tissues and bones.The movement space of human finger was analyzed based on D-H method,and the space motion model was also required as to provide theoretical basis for the structure of the structure design.Electrical-drive method was used in this system,stepping motors that could be controlled accurately were applied as power provider.These motors could be stopped in a particular position,namely the patient's finger could stopped at any time at a particular location.Besides,there were two control modes in the control system,they were process control method and master-slave control method.Program control method,mainly for sick seriously stroke patients.When patients worn exoskeleton finger rehabilitation robot,procedures could been set to enable robot do corresponding motion,and then patient's finger would also been actuated.At the same time,the bending sensor attached on patient's fingers tested the bending angle information at any time,in order to know the training situation about patient's rehabilitation.Master-slave control mode was been made for the patients who sick lightly.The kinematics simulation about this rehabilitation robot had been done in this paper,so as to provide strong theoretical support for this robot system.The motion information(bending angle,angular velocity and angular acceleration)about the mark point in robot had been acquired.From the results,the exoskeleton fingers rehabilitation robot has good flexibility.In the end,the experiment about bending angle had been done as evaluate criterion of the exoskeleton finger rehabilitation robot.The master-slave control mode has been applied in this experiment.The evaluation of bending angle and the real-time between the master side and slave side will be evaluatedcriterion of the exoskeleton finger rehabilitation robot.The result show that the robot has good real-time performance,there was good following performance between the slave side and the master side.