Design Of Bidirectional Soft Actuator For Hand Movement Function Rehabilitation

In recent years,as the aging of the social population has increased,the number of hemiplegia due to stroke or brain trauma has increased.In addition,production accidents and traffic accidents have also caused many patients with motor dysfunction,in which hand movement dysfunction seriously affects patients' daily life.The hand exoskeleton rehabilitation robot can help the patient to restore the hand movement function,and repair the damaged motor nerve by assisting the patient to perform hand movements in daily life and coordinate training with the brain consciousness.Aiming at the movement law and bone characteristics of human hand,this paper proposes a two-way motion software actuator design method for hand rehabilitation.A flexible fiber optic sensor is designed to realize the soft actuator's perception of its own curvature and software actuation.Dynamic model identification and sliding mode controller design work,a hand exoskeleton rehabilitation system based on two-way motion software actuator with force feedback function is constructed.The main contents of the thesis are as follows:(1)From the perspective of bone anatomy,the characteristics of human movement and bone structure were analyzed.The main rehabilitation needs of patients with hand movement disorders were summarized.The range and degree of curvature of the bidirectional software actuator were determined.The sinusoidal corrugated software was proposed.The parameter optimization method of the actuator is designed.The bidirectional motion software actuator with segmented variable stiffness structure is designed to realize the bidirectional software actuator design of the human hand movement.(2)A flexible fiber bending sensor based on PMMA fiber is designed for the motion characteristics of the software actuator.By integrating the sensor into the software actuator and performing the calibration experiment of bending angle and optical loss,the software is realized.The motion state of the actuator is self-sensing,and the reliability of the flexible fiber sensor is verified by surface contour touch test.(3)Aiming at the nonlinearity of the software actuator and the time-delay characteristics of the pneumatic system,combined with the flexible fiber bending sensor developed by the independent design,the step response experiment of the software actuator under different air pressure output was carried out,and two different inputs were obtained.The equation of the over-damped system is obtained by fitting the parameters by least squares method to identify the system model of the software actuator.The first-order Taylor formula is used to linearize the system and then the sliding mode controller is designed and verified by sinusoidal trajectory follow-up test.The effectiveness of the system model and controller.(4)Based on the developed bidirectional motion software actuator,the hand motion rehabilitation system of the force position hybrid control was designed.The software and hardware logic structure design of the hand motion rehabilitation system was completed,and the human-computer interaction software program with 3D image display was developed.The reliability and safety of each module were verified by experiments,and various rehabilitation training modes were designed for the patient: main power assist mode,interactive interaction mode and designated action training mode.