Design Of Mechanical Structure And Control System For Finger Rehabilitation Robot

The hand is one of the most important organs of the human body,playing a vital role in our daily activities(such as grasping objects,writing,driving and typing).The hand motor dysfunction caused by cerebral apoplexy has brought great influence on the daily life of patients,so it is necessary to restore their normal motor function through hand rehabilitation training.According to the needs of finger rehabilitation,a finger rehabilitation robot is designed and developed,the kinematic analysis is carried out,the motor driving force is solved,the fuzzy PID position controller is designed,the adaptive impedance controller is designed,the finger rehabilitation evaluation is studied and the experiments is studied.Firstly,the physiological structure,movement characteristics and movement space of human hands are analyzed.According to the movement characteristics of fingers,the degree of freedom of fingers is simplified reasonably,and the mechanical structure of finger rehabilitation robot is designed.The electrical system control platform is set up and the arrangement of electrical components is completed;A comprehensive rehabilitation robot operation interface is designed to facilitate the operation of the robot by patients and physicians.Secondly,the kinematic analysis of the designed four-finger flexion/extension motion component is carried out to obtain the change of the velocity and acceleration of the finger end and each finger joint with time,and ADAMS is used for simulation verification.It is proved that the robot will not impact the patient's fingers during the rehabilitation training.The motor driving force of the four-finger flexion/extension motion component is solved.The torque of the three joints of MCP,PIP and DIP is solved according to the fingertip force.The motor driving force is solved by using the principle of virtual work which provides the basis for the selection of the motor and reducer.Thirdly,due to the different conditions of the target,the robot load will change.In order to improve the position control accuracy and dynamic response speed,a fuzzy PID is designed to control the position of the robot.According to the control status,the parameters of the PID controller are dynamically modified.For the purpose of ensuring the safety of patients during rehabilitation training,the impedance control strategy of finger rehabilitation robots is studied,and the influence of impedance parameters on system control performance is researched.With the aim of improving the adaptability of the impedance controller to changing environments,an adaptive control algorithm is designed,and the effectiveness of the algorithm is verified by simulation.Finally,the study of finger rehabilitation evaluation is conducted to determine the evaluation index and its weight,and the calculation formula of the comprehensive evaluation index of finger motor function is obtained to judge the obstacle level of the patient.The experimental system of finger rehabilitation robot is built.In order to verify the correctness of motor driving force calculation,the experimental study of motor driving force is carried out.The fuzzy PID control experiment and adaptive impedance control experiment are carried out with LabVIEW.The experiments show that the fuzzy PID can improve the position tracking accuracy and the adaptive impedance control can improve the force tracking accuracy.