Hand Rehabilitation Training System Based On Cable-Driven

With the aging of the population,the number of elderly people suffering from various diseases and dyskinesia has increased rapidly.Limb movement function is important for completing people’s activities throughout the day.Human hands are often vulnerable to damage because they are often exposed to a variety of tools to perform delicate and difficult tasks without protection.In order to restore the patient’s limb motor function,in addition to the necessary surgical treatment and drug treatment,correct and scientific rehabilitation training also plays a vital role in the recovery of the body’s motor function.In this project,funded by the National Key Research and Development Program of China(2017YFB1303201),hand rehabilitation training system based on cabledriven was proposed.The system has the characteristics of compact structure,light and soft.The specific work contents are as follows.According to the biological characteristics and movement characteristics of human hand,compared with the mechanical structure of traditional wearable hand rehabilitation robot,this paper designed the mechanical structure of hand rehabilitation robot driven by exotendon based on “bionics”.It realizes the flexion/extension movement of four fingers,the flexion/extension,abduction/adduction of thumb.At the same time,the underactuated method is proposed to reduce the complexity of the system by adopting the differential structure to realize the self-adaptation in the gripping motion.In view of the shortcomings of the traditional electromechanical drive,such as poor reverse drive ability,small torque-volume ratio and large inertia,this paper innovates the driving mod,and the traditional DC motor drive is transformed into an active/passive hybrid drive mode based on magnetorheological(MR)damper.Magnetorheological damper is used to distribute the mechanical power generated by the DC motor.By changing the output torque of the MR damper to change the torque applied on the robot,the dynamic characteristics of the power source are decoupled from the output,the inertia of the system is reduced,the dynamic performance of the system is improved.According to the rehabilitation needs of different rehabilitation periods,different degrees of injury and different ages,this paper designs four rehabilitation training modes--passive mode,active mode,damping mode and mirror mode.According to the training characteristics of each mode,a variety of virtual reality games were developed to realize multi-mode training and increase the immersive feeling of patients.At the same time,based on Unity3 D and Lab VIEW,the client and server of the rehabilitation system of hand rehabilitation training system based on cable-driven are designed.TCP technology is adopted to realize the remote data communication between patients and physicians,providing technical support for telemedicine.Through the drive system performance test,underactuation performance test,Motion space range experiment and rehabilitation training mode experiment of hand rehabilitation training system based on cable-driven,it is verified that each module of the system has good function and realizes the expected function.