Design Of Soft Robot For Hand Function Rehabilitation Training

Hand movement function obstacle patients caused by stroke often lost the possibility of hand movement function recovery because of lack of timely treatment,the emergence of the rehabilitation robot gradually solved this problem,but the earliest rigid rehabilitation robots are easy to cause secondary injuries to human hands because of their poor fit with human hands and easy to cause lateral bending or torsion of human fingers’ knuckles.With the rapid development of soft robots,soft rehabilitation robots with rehabilitation function and made of flexible materials emerged at the right moment.Soft rehabilitation robots can gradually restore the movement function of patients’ hands through rehabilitation training,and as an auxiliary equipment for patients’ daily life,have been widely used.By studying the physiological structure and motion characteristics of the normal hand,and combining with the hand rehabilitation theory,this paper designed a soft robot for the recovery of hand motion function.The knuckle part was designed as an enhanced structure,the joint adopted the principle of pneumatic network,and the metacarpal joint had two-way bending function,which can complete the positive bending movement,it can also stretch the muscle inside the palm and promote the recovery of hand function.The structure parameters of the soft driver were determined by orthogonal experiment and simulation analysis,ensure better bending effect.Soft fingers of rehabilitation robot should be as flexible as human hands.Flexible and high elastic silicone rubber material was selected to make soft actuator.In order to describe its mechanical properties and better control soft fingers,the multi cavity soft joint and single air chamber of joint were modeled based on Yeoh constitutive model,and the simulation analysis was carried out by ABAQUS,the deformation and stress of the actuator were visualized.The robot system of hand rehabilitation training was built.Soft lithography was used to pour fingers.The palm structure and adjustable connection were designed to integrate the whole structure of soft rehabilitation hand.In order to actually simulate the finger actuation of a rehabilitation robot with hand dysfunction,a single finger experiment was completed without the influence of human hands,and grasping experiment,opposite finger experiment and gesture experiment were carried out to provide corresponding training for patients in different rehabilitation stages.The technology and amenity of the hand rehabilitation soft robot were evaluated.The soft robot can avoid rigid structure injury to human body,give full play to the characteristics of materials,better fit the human hand,conform to the rule of human hand movement,and provide the driving force required by human hand,assist the human hand to achieve grasping,clenching and other movements,which is more suitable for the rehabilitation field.