Structural Design Of Finger Rehabilitati On Training Robot And Control Studies

With the increasingly serious problem of population aging in my country,the number of stroke patients is increasing year by year.Stroke often leads to hand movement dysfunction in patients,which seriously affects the patients’ daily life.At present,one-to-one rehabilitation training for stroke patients by medical staff can effectively promote the recovery of patients.However,this rehabilitation method has the problems of heavy workload and high cost.Aiming at the problem of finger rehabilitation training for stroke,this paper designs and studies a wearable finger rehabilitation training robot.The main contents are as follows:Firstly,by analyzing the physiological structure of the finger,a kinematic model of the finger is constructed to study its motion law.On this basis,the structure of the finger rehabilitation training robot is designed.An arc-type slide rail mechanism is proposed,which realizes the coincidence of the center of the finger joint and the motion center of the actuator,which effectively solves the problem of interference with the finger when the actuator drives the finger in the conventional design.The motion of the proximal finger joints is interconnected,and the goal of one prime mover to drive the motion of two joints is realized;an adjustable structure is designed on the finger sleeve of the actuator to adapt to the finger size of different patients.Through the above mechanisms and structural types,the finger rehabilitation training robot can drive the patient’s fingers to complete the bending/extending motion of the metacarpophalangeal joint and the proximal phalangeal joint.Next,this paper constructs the kinematic model and dynamic model of a single finger of the finger rehabilitation training robot,and uses the geometric method and the Newton-Euler method to construct the kinematic equation and dynamic equation respectively,and then solves them to obtain the rehabilitation training.The pose equation and joint torque expression of each joint of the robot;then through SOLIDWORKS and MATLAB simulation analysis,the motion trajectory,rotation angle and other data of each joint of the finger rehabilitation training robot are obtained,and the obtained data is compared with that of normal human fingers.The laws of motion are compared to determine whether they meet the design requirements.Then,this paper takes the microcontroller STM32 as the control core to design the control of the finger rehabilitation training robot.Through the STM32 timer module,the speed adjustment in the passive control mode of the finger rehabilitation training robot is realized;using the ADC module of STM32,the bending angle acquisition of the finger rehabilitation training machine is completed;and the master-slave control training mode is designed through the bending sensor to realize At the same time,the human-computer interface design based on QT realizes the communication between the host computer and STM32,and controls the finger rehabilitation training machine through the host computer interface for rehabilitation training.Finally,this paper uses 3D printing technology to print the structure of the finger rehabilitation training robot,and then assemble the printed parts to complete the construction of the experimental platform for the prototype production of the finger rehabilitation training robot.The finger rehabilitation training robot is tested and verified to verify whether it can drive the fingers to perform rehabilitation movements according to the expected requirements.In the process,the coupling of the five fingers is tested and analyzed,and the control is improved.