Structural Design And Control Technology Of Hand Function Rehabilitation Robot

Stroke patients' upper and lower limb movements are limited.If not treated in time,severe cases will result in loss of exercise capacity.Therefore,it is necessary to rehabilitate the patient in the early stage of the disease to regain the motor function.As a branch of an important research field of medical robots,functional rehabilitation robots can help patients achieve rehabilitation.This paper focuses on the theory of rehabilitation of hand-functioning rehabilitation robots,the design of mechanical structure,the design of driving mode,the design of sensors and controllers,etc.,and conducts in-depth research.This article analyzes the fingers based on human biological characteristics.The exoskeleton and the driving structure of the hand function rehabilitation robot were designed respectively.Based on the comparison of different hand function rehabilitation robots at home and abroad,the rod mechanism was finally determined as the exoskeleton structure and designing a pause lock device,which is simple and easy to realize the required functions,This paper also optimizes the length of the rod and performs kinematics and dynamics analysis on the robot.In terms of sensors,Hall sensors and membrane pressure sensors were used in this paper,and the above two sensors were statically calibrated.In order to achieve better feedback on control,in terms of pressure sensors,a combination of skin elasticity model and pressure sensor measurement is proposed,which makes the control more natural to human motion.In order to make the patient more comfortable during the rehabilitation phase,the requirements for the driving method are more strict,such as :easy to control,stable operation,flexible,etc.,comprehensive domestic and international status,and determine a very novel driving method,with the rope as the driving,Not only can he achieve the required,but also can be driven over long distances,which makes the range more flexible.In terms of control,in order to make the recovery effect of stroke patients better,this paper was based on dynamic models,and proposes three control control modes for the dynamic model :active motion mode,passive motion mode,active and passive motion combination mode.These three modes complement each other and switch functions according to the patient's wishes.This paper has written humancomputer interaction software,realizing the function of real-time feedback of motion parameters and real-time switching of motion modes.Finally,an experimental exploration of the opponent's functional rehabilitation robot was carried out.The combination of active motion,passive motion,and active and passive motion can be done very well.Through simulation and experimental exploration,the hand function rehabilitation robot is designed reasonably and stably,and it can achieve the expectation during the rehabilitation process of stroke patients.