Analysis And Research Of Finger Rehabilitation Robot

Stroke patients often suffer from hand dysfunction due to damage to the central nervous system and need to rely on finger rehabilitation robots for rehabilitation.In the rehabilitation exercise,we need to consider the rehabilitation posture of the hand,and the movement of the finger rehabilitation robot is not completely equivalent to the movement of the hand,so there must be a mapping relationship between the two.Therefore,it is necessary to design a finger rehabilitation robot,which can effectively promote the finger rehabilitation training.In this paper,the physiological structure and rehabilitation posture of the hand were analyzed.By analyzing the physiological structure of the human hand,the degree of freedom of the finger and the dimensions of the bone joints are calculated,and the motion angle of the joint is determined,which lays a foundation for the exoskeleton structure of the finger rehabilitation robot.This paper analyzes the abnormal movement pattern after the onset of the disease,and determines the use of CPM rehabilitation therapy.In the early rehabilitation training process,the abnormal movement pattern needs to be controlled,so the four rehabilitation sports posture are determined.A clear action requirement is proposed for the finger rehabilitation robot.Secondly,the configuration of the finger rehabilitation robot is studied.The structure is based on the size of the manual physiological structure and the angle of motion of the joint,including the exoskeleton structure of the finger,the applicability of the palmar back,the transmission mechanism,the way of wearing and the design of appearance and so on.Then the key components of finger exoskeleton are analyzed by ANSYS software to verify that the structural design of finger rehabilitation robot meets the requirements of rehabilitation movement.Then the kinematics analysis of finger rehabilitation robot and the establishment of robot-finger mapping model are carried out.Because the exoskeleton structure of five fingers is the same,the forward kinematics of the series joint is solved by taking the index finger as an example,and the forward kinematics solution of the five-finger parallel connection is further solved.Because of the difference of human hand and the structure of finger rehabilitation robot,the rotation angle of each joint of exoskeleton is different from that of each joint of hand.The mapping model of robot and finger can make the structure design of finger rehabilitation robot more flexible and adapt to more patients.Finally,the motion simulation experiment of finger rehabilitation robot is carried out.The ROS system is selected as the experimental platform of finger rehabilitation robot motion simulation planning,and the URDF model of finger rehabilitation robot is configured.The URDF model is configured to generate package by using Move IT module,and the simulation experiment platform is built.The experiments of motion characteristic analysis,collision detection and reappearance of rehabilitation posture of the finger rehabilitation robot are carried out.Finally,the simulation results show that the feasibility and effectiveness of the limit are verified effectively.It is verified that the finger rehabilitation robot can realize the movement of target posture and the target of hand rehabilitation.