Design And Research Of Active And Passive Finger Rehabilitation Training Device Based On Magnetorheological Fluid Technology

With the continuous progress of science and technology and the emergence of new interdisciplinary,robotics technology has been applied to the recovery of patients’ motor function by more and more research institutions at home and abroad.The research of finger rehabilitation robot has developed rapidly,and it soon becomes a special research field.In order to meet the rehabilitation needs of the patients with hemiplegia,this paper designs a finger rehabilitation training device which can carry out passive training and active training,and carries out theoretical analysis,motion simulation and Experimental Research on the device.This paper has carried out a basic research on the finger rehabilitation training device.Including: institutional design and development,kinematics analysis,mechanical analysis,control system design and experimental research.According to the movement characteristics of human fingers,a rope-driven exoskeleton coupling motion linkage mechanism is designed.The D-H method was used to calculate the mechanism model,and the working space and fingertip trajectory curve of the index fingertip were obtained.The kinematics simulation model of the finger rehabilitation training device was established by using ADAMS software,and the simulation results were analyzed.The artificial muscle antagonistic pull model and its dynamic equation,and the transfer function of the passive training control system is derived and simulated and analyzed.The mathematical model of the magnetorheological damper of the controlled object is established by the system identification method and the transmission is obtained.The function of the PID is used to simulate and analyze the transfer function of the active training control system.In the experimental research,the pneumatic artificial muscle performance test platform,the magnetorheological damper performance test platform and the finger rehabilitation training device experimental platform were built respectively,and the performances of the active drive and the passive damper were tested.Passive training experiments and active training were carried out respectively.Experiments verify the rationality of the mechanism design,the stability of the pneumatic muscle drive,and the reliability of the output resistance of the MR damper.Through the research of this paper,the designed finger rehabilitation training device can basically meet the daily rehabilitation training of the fingers,and is a new type of safe finger rehabilitation training device.