Design Of Finger Rehabilitation Robot System

With the deepening of population aging,the number of stroke patients in China is increasing year by year.Stroke is an acute cerebrovascular disease with a very high mortality rate.Even if stroke patients survive through surgical treatment,they are often accompanied by many sequelae.Among them,finger movement dysfunction is a typical sequela of stroke.The human hand has the characteristics of delicate structure and flexible movement,which can complete the important actions of grasping,holding and pinching in daily life.The lack of finger movement function will bring heavy burden to patients and their families,so it is of great significance to research finger rehabilitation.An important theory of rehabilitation therapy is the theory of continuous passive motion,that is,continuous passive activity can accelerate the healing and regeneration of articular cartilage and surrounding tendons and ligaments.According to this theory,the traditional method of finger rehabilitation treatment is that doctors pull patients' fingers to do rehabilitation exercise for a long time.However,rehabilitation physicians are in short supply compared with a large number of patients with movement disabilities.In order to solve this contradiction,it is necessary to research robots which can be used in finger rehabilitation training.Based on the analysis of the research status of finger rehabilitation robot at home and abroad,combining with the physiological structure and movement characteristics of human hands,a low-cost finger rehabilitation training robot system is designed in this paper.The robot can carry out rehabilitation training for the other four fingers except the thumb,and has the versatility of the left and right hands.The finger rehabilitation device adopts the method of terminal traction and makes full use of the coupling characteristics between finger joint motion to realize the flexion and extension motion of three joints of each finger.In the aspect of driving control,four DC deceleration motors are used to drive the machine,which can realize the individual rehabilitation training of the four fingers.The angle of motor rotation is measured in real time by encoder.By predefining the range of motor rotation,the safety of finger rehabilitation training can be ensured.Using PWM technology to adjust the motor speed can meet the needs of patients with different training speed.In addition,the training mode can be set by keys or the serial port.In order to collect the angle and angular velocity information of finger joints during rehabilitation training,a low-cost and simple data glove based on 7 IMUs is designed in this paper.In order to better carry out man-machine interaction,the upper computer software of the system is compiled by using C++ and Labview,including rehabilitation training parameter setting system and finger movement information acquisition system.OpenGL technology isused to build the virtual environment,and patients can control the objects in the virtual environment by wearing data gloves,which enhances the fun in the process of rehabilitation training.Finally,the feasibility of the system are verified through separate experiments of each functional module and joint experiments of the system.