Design And Manufacture Soft-robot Exoskeleton For Fingers Rehabilitation

Mechatronic solutions have been used for many years in various disciplines,including medicine.Using robots allows you to automate the treatment processes and make their implementation more accurate and close to the natural course.Rehabilitation robots can not only replace the work of a doctor,but also reduce the recovery time.In addition to these advantages,the beginning of the use of soft robot technology in rehabilitation simulators significantly increased the safety of recovery due to the lack of rigid structural elements characteristic of classical mechatronic systems.Soft robots absolutely deservedly began to conquer the niche of rehabilitation systems.Thus,the development of a safe device based on soft robot technology for the rehabilitation of the fingers is the main objective of this workInitially,in this work,for a better understanding of the principles of restoring the motor activity of fingers,we studied material on the causes of a mobility defect,as well as on existing methods for solving this problem.Since the device is designed for the hand,the currently existing hand robots review was made of,and after deciding to use the technology of soft robots,various types of soft actuators and the sensors used with them were reviewed.Further,on the basis of the study and a work plan drawn up,the general design of the rehabilitation device was presented,the principle of its operation was described.Particular attention was paid to the design of a soft actuator in Solid Works,to obtain the required parameters of which,using ABAQUS,a finite element analysis was carried out.To control the rehabilitation robot,pneumatic and electrical circuits were developed,automatically control system was described and the necessary components were selected,and the main modes of the device for restoring finger mobility were described.Finally,the designed elements,in particular soft actuators,were produced and tested for their performance.