Mechanism Design And Control System Research Of Finger Rehabilitation Apparatus

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.Rehabilitation equipment is mainly used for patients with rehabilitation treatment,according to the theory of continuous passive activity,patients can be restored to health as soon as possible.Throughout the existing finger rehabilitation equipment,either a single form of exercise,or only passive training mode,So patients can not get comprehensive and effective rehabilitation treatment.This paper presents a new finger rehabilitation equipment,which has the characteristics of simple mechanical structure and diversified training mode.First,the biological dimensions,movement characteristics and freedom of movement of the fingers are analyzed,which is used as a theoretical basis for the design of the finger rehabilitation device.Based on the movement characteristics of the fingers,the degree of freedom is reasonably simplified,and then a belt-driven machine is designed.Use ANSYS Workbench to perform finite element analysis of key components of the organization and then optimize the size and shape of the mechanism.Secondly,kinematics and dynamics analysis of the finger rehabilitation device is planned.Then plans the trajectory of the four fingers,which as the design requirement of the motor drive board.A man-machine combined motion model is established and kinematic analysis is performed to evaluate the different fingers length patient's rehabilitation training effect.Finally,the control system of the whole organization is introduced,and the control algorithm is designed to simulate the motor control algorithm using MATLAB to verify the effectiveness of the lower computer program.A constant pressure control system based on the auto disturbance rejection controller(ADRC)is proposed for the active training control algorithm of the rehabilitation machine.Comparing with the traditional PID algorithm and simulation analysis to verify the superiority of the ADRC algorithm.