Research On Wire Drive Hand Exoskeleton Rehabilitation Device

With the accelerated aging of the world population structure,the number of patients with stroke and other diseases is increasing.At the same time,the occurrence of other accidents will lead to the loss of brain control over other parts of the body,of which the loss of hand motor function has the greatest impact on people.The brain’s lack of control over hand movements makes patients lose their basic self-care ability in life.If the relevant muscle tissue stops exercising for a long time,it will cause atrophy and other irreparable damage,and at the same time,it will also cause huge burden to family and society.Therefore,in recent years,researchers in various countries have gradually attached importance to this problem,and more and more research and investment have been made in this field.Over the years,researchers have also developed various forms of exoskeleton rehabilitation institutions to solve the rehabilitation problems of patients’ finger function,and have made certain achievements.However,due to other objective conditions such as current science and technology,there are still many deficiencies in the drive,perception,intention and other aspects of the exoskeleton rehabilitation institutions that have been developed.As a result,the portability,mobility and rehabilitation effect of rehabilitation institutions are not satisfactory.Therefore,most of the research results are still at the theoretical level and have not been widely popularized and applied.Based on the original one-way coupling scheme,this paper conducts in-depth research to further upgrade and perfect the function of exoskeleton rehabilitation institutions.Firstly,the problem of cable interference in the movement process under the bidirectional coupling constraint is solved,the mathematical model between the three joints in the movement process is established,the optimal wiring position is found,the flexibility of the device is improved on the premise of ensuring the reliability of the movement sequence of finger joints,and the redundancy degree and weight of the structure are reduced at the same time.Secondly,this paper adopts the cable drive method,and according to the drive form of the system,develops a set of motor-shape memory alloy spring hybrid drive scheme,which improves the applicability and safety of the rehabilitation device.In order to accurately control the magnitude of the output force,this paper also deeply understands the phase transformation form of shape memory alloy.Based on the stress-strain-temperature relationship of memory alloy,the mechanical model of shape memory alloy spring is obtained,which makes the driving device lighter and the output force more accurate.Then,by setting up an experimental platform and comparing and analyzing the output of fingertip force with the given expectation,the feasibility of the pure mathematics model is verified and good feedback is obtained.