The Research On The Design Of Exoskeleton Rehabilitation Robot Hand

Hand is the most important tools for human to explore the nature. Hand dyskinesia will affects people’s life greatly. An exoskeleton rehabilitation robot hand was proposed in this paper in order to overcome the disadvantages in current hand rehabilitation devices and help the people who are suffering from hand movement disorder. Patient’s finger will be led to the passive flexion and extension training by the exoskeleton mechanism. The exoskeleton rehabilitation robot hand will help people maintain muscle strength, prevent muscle atrophy and ultimately promote the rehabilitation of the nervous system. The research works based on the foreign and domestic research achievements are as follows.1. The anatomical structure and the kinematic characteristics of human hand had been studied in the beginning. The mechanical model of hand skeleton was presented, based on which the forward and inverse kinematic model was established.2. A muscle-tendon-skeleton hand mode was established according to the hand anatomy, biomachanics and some foreign research results.3. A kind of under-actuated exoskeleton mechanism considering the safeness of exoskeleton rehabilitation robot hand was proposed based on the basis of index finger kinematic and dynamic model. The mechanism dimension and the virtual prototype were calculated and designed according to results of the fingertip motion trace experiments and the national standard of human body dimension.4. The muti-body dynamic system analysis software ADAMS was applied to realize the united simulation of the virtual prototype of exoskeleton rehabilitation robot hand and the muscle-tendon-skeleton hand mode, and to analyze the interaction between exoskeleton and finger skeleton undering different motion mode of exoskeleton rehabilitation robot hand, and what’s more to analyze the influences of exoskeleton motion mode to the intensity of muscle training.5. The physical prototype of exoskeleton rehabilitation robot hand was manufactured based on its virtual prototype, which consisted of the mechanical system and the control system. The control system of exoskeleton rehabilitation robot hand includes the slaver computer system and the master computer system. The slaver computer system, which used Freescale MC9S12XS128 MCU as the core processor, was responsible for the control of exoskeleton driver, the measurement of exoskeleton data glove and the communication with the master computer system. The master computer system of exoskeleton rehabilitation robot hand was programmed by LabVIEW, which was used to control, receive, display and save the data send from slaver computer system in real-time. The master computer system is a significant human-computer interaction platform.6. The experiment results of physical prototype were detailed in the end of this article. The similar results of the experiment and the simulation demonstrated the correctness of the virtual prototype model and the designment of exoskeleton rehabilitation robot hand. In addition, some design deficiencies were found. The reasons of deficiency were discussed according to the results of experiment and simulation, which will provide the foundation for the further research.