The Design And Analysis Of A Finger Rehabilitation Robot Actuated By SMA

As the mostly fluid organ in human,the hand plays a key role in our daily life.However,stroke,trauma and other postoperative injuries often cause hand dysfunction,which greatly affects patients' daily life.Therefore the hand rehabilitation causes the great attention.Traditional rehabilitation training relies on the therapist to help the patient to complete the movement manually.The efficiency of rehabilitation training is very low,which cannot meet the needs of patients.Therefore,intelligent hand rehabilitation equipment has been gradually developed.The exoskeleton finger rehabilitation robot studied in this paper can help these patients with stroke and other hand movement disorders effectively recover.Firstly,the research status of the existing exoskeleton finger robot in home and abroad was comprehensively analyzed,and the advantages and disadvantages of those existing equipment were studied as the basis of design this exoskeleton finger rehabilitation equipment that can better serve patients.This paper adopts shape memory alloy wire to drive.It is a new intelligent material.It has good flexibility,high power ratio,simple drive and other characteristics.It can greatly reduce the volume and weight of the equipment;At present most of the exoskeleton rehabilitation robots are made by rigid structure,It make the whole equipment's portability and comfort is limited.this finger rehabilitation robot using a flexible structure,with better comfort.The rehabilitation robot in this paper use raspberry pi as the main control board,it is equivalent to a miniature computer.It has a lot of interface.It can connect all kinds of external devices.This greatly enriched the equipment's rehabilitation functional.The excellent handling and interactive performance enables the rehabilitation equipment to complete the patient's rehabilitation training better.The finger rehabilitation robot adopts PID control method and combined with electromyography signal control,which can achieve a variety of rehabilitation modes and better rehabilitation treatment for patients.