Mechanism Design And Analysis Of Functional Rehabilitation Exoskeleton Of Hand

Most of the people daily activities need the participation of the hand.Therefore,it is an important part of the rehabilitation to help the hemiplegic patients to improve or even restore their hand exercise function.Aiming at the problem of hand-rehabilitation training equipment that is currently in need of scientific and safe rehabilitation for patients with shortage of medical resources in China,based on continuous passive motion theory(CPM),neural plasticity theory and sports rehabilitation theory,the wearable hand-function rehabilitation training exoskeleton is designed with good manpower adaptability.This paper takes the manufactured exoskeleton as the core,and carries out detailed organization design,kinematics dynamics simulation analysis,rehabilitation system composition analysis and physical prototype experiment analysis.Proving the effectiveness of the exoskeleton in rehabilitation training.Initially,the problem of adaptability between exoskeletons and human hands was solved in institutions.By exploring the law of free exercise of the fingers,the three-finger kinematics law is fitted,and the overall structural design of the exoskeleton manipulator is performed on the premise that the knuckles are not acted as a stress member.The optimization and selection of the closed chain mechanism are performed.It solves the two major technical problems of the instantaneous part of the rotating part and the knuckle length adjustment,and satisfies the requirements of adaptive rehabilitation.The driving part adopts the modular motor and healthy side driver transformation design,which enriches the patient's rehabilitation training patterns.Furthermore,the characteristics of the motion parameters of exoskeleton manipulators were obtained through theoretical and simulation analysis.In order to facilitate the decoupling,the knuckle mechanism is divided into two parts: the closed chain mechanism and the main kinematic chain mechanism.The D-H method is used to establish the space coordinate system for the main kinematic chain.The spatial pose Jacobian matrix is analyzed and the forward and inverse kinematics analysis is performed.The single-finger kinematics matrix was obtained by the simultaneous closed chain mechanism.Based on this,the force Jacobian matrix was obtained and the dynamics analysis was performed using the Newton-Euler method.Finally,kinematics and dynamics simulations were performed on a single robot finger through Pro/E and ADAMS software.The analysis proved that the model was safe and effective under theoretical conditions.Additionally,the exoskeleton control system was modularized and explored.Modularize the rehabilitation system into an exoskeleton execution module,a data acquisition module,a data processing control module,and a human-computer interaction visualization module,and analyze the main functions of each module and the links between the modules,and describe the closed-loop control strategy.Human-computer interaction interface is simple designed.Finally,a series of physical prototype experiments were performed.Based on the analysis of the advantages and disadvantages of the prototype,the problems that secondgeneration physical prototypes should solve are summarized.Then,in order to verify the validity of the second-generation physical prototypes,the manual adaptability experiment,the exercise angle experiment,the positive finger pressure experiment and the healthy side assisted rehabilitation training were performed.The experimental results prove that the second-generation physical prototype can solve the problems of instantaneous exoplanet joint projection and knuckle length adjustment of the exoskeleton joint,and can drive the finger to move in accordance with the predetermined angle within the safe pressure range.In addition,the healthy side assisted rehabilitation training mode give patients new options.