Portable Five-finger Rehabilitation Training Robot

With the steady growth of the economy,the problem of aging population is also increasingly prominent in China as the most populous developing country in the world.The aging of population leads to the increase of incidence of cerebrovascular diseases,making stroke a public health threat.Stroke,well known for its high prevalence,high mortality and high incidence,are consuming huge social resources every year,which places a huge burden on individuals,families,and health care systems.In this article,a portable,light,cheap,enjoyable Five-finger rehabilitation robot is proposed for patients with upper limb hemiplegia caused by stroke.This robot provides effective finger rehabilitation training for users,and at the same time,it greatly reduces family burden of patients.The rehabilitation robot has a improved traction design in structure and made by 3D printing technology.The overall size of the rehabilitation robot is only 380*190*100 millimeters.Due to the application of various lightweight materials,the weight of the robot is only 2.8kg,which have advantages over other similar products.The structure design accords with the biological characteristics of human hands,so that it has good comfort performance.The key technical points of the system lie in its improved traction design in structure and light in weight.The control system of the finger rehabilitation robot is designed with embedded system,and the system uses ARM(STM32F407)as the master of whole control system and do all kinds of operations and algorithm.The stepper motor is adopted in the execution of the system,and MCU achieves high precision control of motor by PWM technology.The system program is based on the uC/OS-II operation system,and the kernel mechanism of the operation system can provide high stability for the system.The rehabilitation model of the finger rehabilitation system has two options,the passive mode and the following mode,and the two models can provide effective rehabilitation training for the users during the rehabilitation treatment.As an efficient active rehabilitation training mode,the following mode also adds to the interest of rehabilitation.The following model is another innovation of the subject.In order to demonstrate the reliability of this finger rehabilitation robot,we carried out a lot of experimental and analysis in the later stage.