Design Of A New Soft Actuator And Application In Rehabilitation Gloves

Stroke and other diseases often lead to motor dysfunction in some limbs of patients,thus losing the ability to take care of themselves.Hand as the most frequently used organ in daily life,rehabilitation training is the most important.The purpose of this paper is to propose a new structure of soft actuator and apply it to rehabilitation gloves,so as to assist the rehabilitation training of hand hemiplegia patients.The main work is as follows:Firstly,based on the research of the physiological structure of the hand,the structure of the soft actuator is preliminarily designed.The spatial motion model of the soft actuator is established according to the D-H parameter method,which provides a theoretical basis for the structural design of the soft actuator.The soft actuator is modeled by SolidWorks and its deformation simulation analysis is carried out by ABAQUS,which theoretically verifies the structural design rationality of the soft actuator and obtains a better design structure by comparing different structures.The fabrication method of the soft actuator is briefly described,including die design,selection of silica gel material,specific operation steps and precautions during the production process.Then,design the soft rehabilitation gloves system,including the drive system,the execution system,the control system and the sensing module.Determine the driving mode of the soft actuator,design the corresponding circuit and circuit,and select the corresponding components.The control system of the soft rehabilitation gloves is designed,including the upper machine control and the electromyography control,so as to meet the rehabilitation training requirements of different stages of the patient.Finally,a series of experiments were designed to verify the feasibility of the structure and system of the soft rehabilitation gloves.A single soft actuator was subjected to a gas-filling experiment,and the experimental results were compared with the previous simulation and motion space results to verify the correctness of the soft actuator structure design.Then the hand gesture experiments,grasping experiments of different objects and sEMG-based control experiment are carried out to verify the controllability,feasibility and stability of the system.