Design And Study Of A Wearable Rehabilitation Manipulator

As one of the important organs of the human body,hand plays an irreplaceable role in daily life and work.The motor function of the hand is damaged by the medium factors of trauma or stroke,and it is necessary to recover by scientific rehabilitation training.The application of robots and related technologies in the field of rehabilitation has brought new impetus to the development of Rehabilitation Theory and the progress of clinical rehabilitation technology.At present,the research of the adversary rehabilitation training robot has become one of the hotspots in the field of medical robot research.In this paper,the mechanical structure and control system of the rehabilitative manipulator are designed.The kinematics analysis,the virtual prototype simulation analysis,the construction of the data measurement experiment platform and the physical prototype experiment are carried out in depth.First,by exploring the movement of normal adult male fingers,the change function of the flexural angle of the three joints of the finger can be fitted out.On the basis of analyzing the biological characteristics of human hands,the 5 finger training executive mechanism,transmission mechanism and lower machine control module of the wearable rehabilitation manipulator are designed and studied in the paper.In order to solve the flexural or stretch movement of the finger and the adduction or abduction movement,a finger training mechanism with 2 degrees of freedom was designed.The injuried fingers of patients are used as part of the training mechanism,and the rotation axis of the exoskeleton joint of the manipulator coincided with the axis of the joint rotation center,so that the slip between the fingers and the mechanism can be avoided and can also be applied to the patients with different sizes of fingers.In order to simplify the control system and save the space for the use of the patient's hand,a single motor is used.Second,in order to get corresponding theoretical motion parameters and facilitate subsequent control,a mathematical model of finger training executive mechanism is established,and its kinematics analysis is carried out.According to the characteristics of the closed-loop cascade structure,the kinematic analysis method of main mechanism is presented in this paper that the kinematics equation is established and the required parameters are solved according to the structural relationship of each close chain.Then,in order to carry out the experiment of the prototype,the experimental platform of the related data measurement is built in this paper.The platform mainly includes Holzer angle sensor,piezoresistive force sensor,terminal plate and industrial control machine.The sensors are used to feed back the joint bending angle and pressure signal in the experimental process and transmit them to the industrial control machine for subsequent analysis.In order to get more accurate experimental data,the force sensor is calibrated before use.By adjusting the driving voltage and feedback resistance,the best pressure measurement range and the best pressure measurement accuracy can be obtained.Finally,the virtual prototype simulation analysis and the physical prototype experiment of the rehabilitation manipulator are carried out in this paper.The simulation analysis includes the kinematics and dynamics simulation of the main mechanism of the manipulator.The trajectory curve obtained by ADAMS simulation is compared with the trajectory curve obtained by MatLab to verify the correctness of the mathematical model.The experiment consisted of adaptive experiment of human hands,the experiment of two kinds of rehabilitation models including continuous passive rehabilitation training and active rehabilitation training and positive pressure measurement experiment of finger surface in continuous passive rehabilitation training.The adaptability test of the hand verified the adaptability of the manipulator to the fingers of different sizes.The rationality and stability of the design scheme were verified by the main and passive rehabilitation training experiments.The safety of the manipulator is verified by the positive pressure measurement test of finger surface that it does not cause secondary damage to the injuried fingers of patients.