Mechanical And Control System Design Of Finger Training Rehabilitation Apparatus

Finger is one of the most important organs of the human body, finger recovery as a branch in the field of rehabilitation, has made many rehabilitation theory research and variety of finger rehabilitation emerge in an endless stream in recent years. Rehabilitation equipment is mainly used for patients with late stage of rehabilitation treatment, according to the theory of continuous passive activity, patients can be restored to health as soon as possible. Fingers rehabilitation training generally divided into passive and active training, passive training can help patients to restore the damaged nerve cells; Through active training, patients can recover part of the nerve cells, enhance the function of the movement of the fingers.Throughout the existing finger rehabilitation equipment, either a single form of exercise, or only passive training mode, So patients can not get comprehensive and effective rehabilitation treatment. This paper presents a new finger rehabilitation equipment, which has the characteristics of simple mechanical structure and diversified training mode.First, this paper analyzes the fingers of the degrees of freedom, as the theoretical basis for the design of finger training rehabilitation; then simplifies freedom reasonably, designes the mechanical structure with the driving wheel; then plans the trajectory of the four fingers, which as the design requirement of the motor drive board.Secondly, this paper introduces the working principle of DC motor, design the flow chart of the DC servo motor of the various working modes; then establishs the mathematical model of the motor, simulates various working modes by MATLAB to verify the effectiveness of the MUC program, then, the characteristics of the force sensor is introduced, and designes the active control algorithm.Then, designes the circuit of the control system, mainly including the peripheral circuit of STM32, then designed the upper computer based on Qt5.4.Finally, makes a single motor experiment, compared with the simulation curves to verify the correctness of the MCU program, and finally complete the experiment.