Mechanism Analysis And Rehabilitation Evaluation Of Finger Rehabilitation Robot

Hand is one of the most important organs in human motion function.The lack of hand function will seriously affect the daily life of human body.In the hand function injury,in addition to accidents or injuries,the hand function damage caused by stroke accounts for the vast proportion,and this kind of injury often has the possibility of recovery.It is of great significance to gradually recover part of the hand function through the traction rehabilitation exercise of the hand,which helps to improve the quality of life of patients.Therefore,this paper designs a hand function rehabilitation robot,and carries on the system design,kinematics analysis,rehabilitation strategy research,interaction design and experimental verification.First of all,according to the rehabilitation needs,combined with the physiological structure characteristics of the hand,the flexion / extension,adduction / abduction components of the finger rehabilitation robot are designed.At the same time,considering the safety of the rehabilitation movement,the safety design of the mechanism is carried out.After that,the control system of finger rehabilitation robot is designed,and the human-computer interaction system is designed according to the operation logic of doctors and patients.Secondly,according to the designed finger rehabilitation robot system,the forward and inverse kinematics of the mechanism are analyzed and solved based on the screw theory.At the same time,in order to ensure the rehabilitation effect,the force and speed at the end of the system are calculated,and the motion characteristics of the system are clarified,which lays the foundation for the subsequent control.Thirdly,in order to realize the rehabilitation motion control of the finger rehabilitation robot,the dynamic modeling and solution of the system are carried out.According to the characteristics of passive rehabilitation movement,the position control of the system is designed and verified based on Neural Network PID controller.According to the characteristics of active rehabilitation,an impedance controller based on FSR pressure sensor is designed and verified by experiments.The requirements of active and passive rehabilitation training modes of finger rehabilitation robot are realized.Finally,according to the effect of rehabilitation,a finger force rehabilitation evaluation method based on finger pressure detection is designed and tested.Aiming at the condition monitoring of rehabilitation process,a fatigue monitoring system based on EMG signal is designed to monitor the state of patients and ensure the effect of rehabilitation training.Then,according to the wearability of the finger rehabilitation robot,its comfort is studied,which provides a reference for the development of the next generation prototype.