Design And Research Of Exoskeleton Type Rehabilitation Manipulator

In the field of a robot,rehabilitation robot as a new type of special robot,provides new impetus for patients with clinical recovery technology and the development of rehabilitation medicine.In the meantime,rehabilitation robot becomes one of the important research directions of the robot field.Exoskeleton rehabilitation manipulator belongs to a branch of rehabilitation robot.Its main task is to help patients recover their fingers in the assistant department.At the same time,it can reduce the work burden of rehabilitation therapists,so the research has already become one of the hot spots of robot and bioengineering.First of all,this article introduces the current status of patients with hand.Then,the article does an analysis and the research status of exoskeleton rehabilitation manipulator at home and abroad.On the basis of this introduction,the research significance and content of this topic are mentioned.After analyzing the human physiology and biological mechanism,the article introduces the guide rail slider mechanism and space organization,and this structure can effectively solve the joints angle accuracy issues such as vertical force and rehabilitation.Choosing a reasonable way of transmission and steering model is mentioned,and this paper adopts modular design concept to design the exoskeleton rehabilitation manipulator and drive devices.Through D-H method,this paper analyzes direct kinematic model and inverse kinematic model of exoskeleton rehabilitation manipulator.Finally,the Jacobi matrix is established.In order to follow up the study of the control system,a dynamic equation from the starting end of the motor to the end of the exoskeleton finger is established,and the rationality of the mechanism design can be explained.In order to make the exoskeleton rehabilitation manipulator own rich perceptive ability and provide feedback information,the force sensor based on strain principle is selected to provide the force information on the fingers.The joint position sensor based on principle of hall is selected to measure the position of finger joint without contact,and the position information of joint can be well get.Finally,the static calibration of the sensor is completed.In order to verify the practicality of the design,the experimental prototype is set up and the experimental research of the exoskeleton rehabilitation manipulator is completed.The experimental results show that the hand movement of exoskeleton rehabilitation is completely reliable and practical.Finally,the effectiveness evaluation method and theory are introduced.In the end,the article makes a prospect and summary,and explained that the exoskeleton rehabilitation manipulator research is of great significance.It is worthy to do a further in-depth study.