Design And Implement Of A Soft Exoskeleton Robotic System For Hand Rehabilitation

In recent years,the number of patients suffering from hand-driving dysfunction due to stroke and brain trauma has increased.The hand exoskeleton rehabilitation robot is an important device for rehabilitation of hand movement functions,and it repairs the damaged motor function of the patient's hand by assisting the patient's fingers in bending and stretching exercises and multi-finger coordination and functional training.Aiming at the rehabilitation needs of hand movement function,this paper studies an aerodynamic soft actuator that can be used for hand rehabilitation.The structure parameters and manufacturing process of soft actuator is studied.The variable structure controller of soft actuator is designed.Based on the soft actuator.The backpack-type exoskeletonrehabilitation-hand system is developed.The Human-computer interaction system,which is suited for the backpack-type exoskeleton hand,is developed based on android system.The main work accomplished by the thesis and the main achievements are as follows:(1)The skeletal structure and kinematic characteristics of the hand are analyzed from the perspective of motor function.The rehabilitation needs of patients with hand movement dysfunction were combed.Based on this,the range of motion and structural parameters of the soft actuator were determined.The soft actuator's high-molecular silicagel substrate mixing regulation method is established.In paper,we proposed a corrugated semi-circular cylindrical hollow silicone tube;the optimal structural parameters of the soft actuator were obtained through simulation optimization.Based on this,the manufacturing process flow of the soft actuator was proposed.(2)Aiming at the nonlinear and time-delay characteristics of aerodynamic soft actuators,the dynamic response characteristics of soft actuators under different pressures were studied which combined with the calibration of flexible sensors and step response experiments,the second-order dynamics of soft actuator's model parameters is identified by least-square fitting method.Based on the model,synovial variable structure control strategy of the soft actuator is proposed.The trajectory tracking experiment verifies the effectiveness of the model and synovial controller.(3)Based on the design of a soft actuator,the soft skeletal hand rehabilitation with softness and safety was developed.The system includes a modular soft exoskeletal hand,hardware drive system,software system,and data gloves for mirror rehabilitation.The hand rehabilitation system can provide three practical rehabilitation-training modes for patients: assessment of hand function exercise capacity,passive training,and mirror training of the affected side of the healthy side.(4)Combined with the soft exoskeletal rehabilitation hand,an experimental platform for a portable soft skeletal rehabilitation-hand backpack system was established.The soft external skeletal rehabilitation-hand hardware system and the human-computer interaction software system were respectively tested for performance,and the reliability and safety of each module of the system was verified.The results show that the system is stable and reliable,and meets the rehabilitation needs of functional handicap patients in the hand.