Progressive Strateegy Design And Evaluation Of A Hand Rehabilitation Exoskeleton

Hand trauma in at more than half of the tendon injuries in the process of wound surface healing.Tendons will grow together with the surrounding tissue adhesion formation in order to prevent or reduce tendon adhesion with the surrounding tissue in the rehabilitation process.A single control method is hard to meet the needs of different recovery stages.At the same time,compared with relying on the experience of rehabilitation doctors.First of all,the match function rehabilitation robot system are studied,including the mechanical system composition and functions of the sensor system and manmachine interaction system using the four bar linkage design of mechanical system.The torque sensor calibration test is completed.In order to increase the participation of patients in the rehabilitation process,a human-computer interaction system was designed for rehabilitation.Secondly,combining the characteristics of the rehabilitation.In referring to the main activity and super stretch of motion within the volume of gradual recovery,to improve the condition of patients with finger end jitter and tendon adhesion by the establishment of the model of fingers and exoskeletons of kinematics.And static and dynamic analysis of mechanical system,the impedance voltage for the adaptive control method,realize the control of foreign bone movement at the same time,the simulation model of kinematics,ensure the safety of exoskeleton.In view of the coordination of finger flexibility requirements,design the auxiliary recovery method based on torque observer is small scale.Angle and torque high accuracy requirement to solve the problem.Angle and torque into torque observer in coordinating convalescence.At last,the movement of rehabilitation robot performance tests,and conducted the clinical experiment and evaluate the effect of two complementary rehabilitative methods of design according to the experimental results.This paper designed adaptive auxiliary methods of rehabilitation and auxiliary recovery method based on torque observer can according to the requirements of different times assist patients in rehabilitation.