The System Research Of Multi Degree Of Freedom Exoskeleton Rehabilitation Manipulator

Nowadays,people who suffer from limb movement dysfunction due to traffic accidents,engineering disability and stroke are increasing year by year,and hand motor dysfunction is one of them.In all aspects of our lives,the function of the hand plays a decisive role.However,when the patient loses the ability of hand movement,it will seriously affect the ability of self-care.Therefore,timely and effective rehabilitation is particularly important.This paper describes the design of a multi degree of freedom ectoskeleton rehabilitation manipulator to help patient to bend and stretch of the hands,through a certain period of time and a certain intensity of repetitive training treatment can reduce the possibility that patients with finger movement dysfunction can cause brain related motor neurasthenia and atrophy of hand related muscles because of inability to exercise their hands frequently,and then the motion function of the finger is restored.In this paper,the following work has been done on the external skeletal rehabilitation manipulator based on the domestic and foreign scholars and the existing equipment in the laboratory as follows:First,this paper systematically researchs the knowledge of hand biomechanics,understands the theoretical basis for the treatment of stroke hemiplegic dyskinesia and explicits this article needs to design a safe and reliable exoskeleton rehabilitation manipulator system,therefore,it can help rehabilitation exercises for people with finger movement dysfunction,so that patients can recover as soon as possible,and fingers can achieve normal movement.Secondly,it based on the basic knowledge of hand biomechanics,including hand anatomy,hand control,finger movement and hand grasping mode,and the size of fingers of normal people,and based on the idea of modularization to design the structure of the exoskeleton rehabilitation manipulator,using Solid Works as a 3D modeling software to display the overall assembly and part drawings of exoskeleton,and introduce the reasons and related functions of various institutions in detail.Furthermore,the pneumatic system control loop is designed,and the mini cylinder is selected as the driver,and the STM32F429 MCU is used to control the electromagnetic reversing valve,so as to control the protruding and retracting of the cylinder piston to realize the bending and straightening of the exoskeleton of the hand.Finally,this article is based on the mechanical system dynamics automatic analysis software ADAMS to carry out the emulation analysis of three kinds of motion models by the external skeletal rehabilitation manipulator,and the experiments of the same three kinds of motion patterns were carried out,which proves the reliability and feasibility of multi freedom exoskeleton rehabilitation manipulator system,can meet the basic needs of patients with rehabilitation of finger movement disorder,which laid the foundation for the later improvement of exoskeleton rehabilitation manipulator.