Research On Key Technology Of Arthroscopic Soft Hand Rehabilitation Device Based On Fabric Reinforcement

In order to solve the problems of traditional rigid hand rehabilitation device,such as complex structure,heavy weight and large volume,this paper proposes a fabric-reinforced joint soft hand rehabilitation equipment based on the advantages of continuous deformation of software robot,high adaptability to non-structured environment and light weight.and carry out research work on structural design and preparation,performance testing and rehabilitation training.By analyzing the structure and movement characteristics of human hand bones,the overall design scheme of fabric-enhanced articulated soft-resisting finger is determined.Based on this,the selection of strain layer material,silica matrix and soft joint structure design is carried out,and the theoretical analysis method of mathematical model is used to determine Silicone matrix and soft joint design parameters.Finally,a fabric-reinforced articulated soft hand rehabilitation device was prepared in combination with 3D printing and casting molding techniques.To test the joint performance of the articulated soft body rehabilitation finger unit.The integrated hydraulic direct drive source system and the three-degree-of-freedom test platform were built,and the joint bending angle,trajectory and output force of the soft-rejuvenated finger unit were studied.Through the analysis of the test results,it is shown that the articulated soft body rehabilitation finger designed in this paper has reached the expected design index.The software rehabilitation glove control system based on sEMG was developed with sEMG signal acquisition technology,the pneumatic system of rehabilitation glove pressure control was designed on the basis of proportional pressure reducing valve,and the attitude control of software rehabilitation glove was realized with Arduino as the core.To verify the performance of the proposed fabric-reinforced articulated soft hand rehabilitation device,Based on the rehabilitation glove control system to carry out simulated continuous passive rehabilitation training and grip test,The results show that the rehabilitation gloves can generate the master-slave rehabilitation action by collecting the gesture information,achieving the rehabilitation training function and having the good performance of grasping the articles.The main innovations of this paper are as follows:(1)In this paper,an articular soft hand rehabilitation device was proposed.The rehabilitation gloves were designed as soft joint part and finger bone part by cutting and stitching single layer of fabric to construct composite fabric,and the special structure of soft joint fabric layer was designed to make its movement mechanism more consistent with the characteristics of human hand kinematics.(2)In this paper,a strain layer material based on elastic fabric is proposed to construct the limited strain layer composite fabric by composite splicing the warp and weft directions of the selected fabric to avoid secondary selection of the limited strain layer fabric material.It can effectively reduce the defects such as weak stitching or anisotropy caused by different structural properties of different types of fabrics,so that the soft rehabilitation gloves are closer to integration.