Research On Soft Hand Rehabilitation Robot Driven By Bending Pneumatic Muscle

With the rapid development of science and technology and the improvement of people's living standards,rehabilitation medical robots are playing an increasingly important role in life,driven by multidisciplinary fields such as automation control,rehabilitation medicine and robotics.The traditional hand rehabilitation robots are exoskeleton rigid robots with complex structure and small fault tolerance.It is dangerous for the rehabilitation of human finger joints.Therefore,rigid hand rehabilitation robots have been difficult to meet people's needs.With the research and development of flexible materials,flexible wearable hand rehabilitation robots appear in people's lives.Flexible wearable hand rehabilitation robots have better safety and flexibility than exoskeleton hand rehabilitation robots.Sexuality and flexibility,but at the same time with the nonlinear problems of the mechanism and system,it brings great difficulty to the kinematic analysis and angle control of the flexible hand rehabilitation robot.For patients with stroke loss due to hemiplegia,based on the patient's need for rehabilitation training,this paper studies the model and angle control of one-way bending pneumatic muscles,designs a flexible wearable rehabilitation robot,and studies flexible wearable with flexible pneumatic muscles.Gloves assist the stroke patient's finger for rehabilitation training.The main research contents of flexible hand muscle rehabilitation flexible muscle rehabilitation robot are as follows:(1)For the unidirectional bendable motion characteristics of bendable pneumatic muscles,a static model of bendable aerodynamic muscles is established by finite element analysis,and a linear mapping relationship between the bending angle of the bendable aerodynamic muscle and its internal pressure is obtained.At the same time,due to the hysteresis of the flexible pneumatic muscle in the continuous motion state,the P-I model is used to fit the hysteresis of the flexible pneumatic muscle.Due to the nonlinear phenomenon of bendable pneumatic muscles in the two-dimensional motion space,a data-driven method is used to establish an experimental model of flexible pneumatic muscles,and in order to compensate for the hysteresis of the flexible pneumatic muscle during dynamic motion,a flexible pneumatic is established.A phenomenon model of muscles.(2)For the uncertainty of the model parameters of the bendable pneumatic muscle in the one-way bending process,the sliding model controller based on the model reference is designed to achieve precise control of the bending angle of the bendable pneumatic muscle.Aiming at the uncertain disturbance of bendable pneumatic muscle and pneumatic system and the jitter of bendable pneumatic muscle under continuous motion,the model reference adaptive sliding mode control method based on RBF approximation model parameters is used to suppress the dynamics of bendable pneumatic muscle.The chattering during exercise reduces the hysteresis of the actual trajectory of the bendable pneumatic muscle and the desired trajectory,suppresses the chattering of the bendable pneumatic muscle in the two-dimensional motion space,and improves the control precision of the bendable pneumatic muscle angle.(3)Based on the rehabilitation needs of stroke fingers,a flexible wearable finger rehabilitation robot was designed.Five separate pneumatic systems were used to control the air pressure of the five-flexible fingers,and the kinematics model of the finger rehabilitation robot was studied.,the simulation experiment of the finger's working space.A multi-input and multi-output sliding mode control algorithm based on hand kinematics model was developed for hand-rehabilitation robots driven by flexible pneumatic muscles to achieve passive rehabilitation training for patients with dysfunction of the hand.Finally,in order to improve the initiative of patients in the process of active rehabilitation training,a virtual online game of human-computer interaction is developed to increase the interest of patients in active rehabilitation training and improve the initiative of patients to participate in active rehabilitation training.