Research On Flexible Hand Functional Rehabilitation Robot Based On Air Actuation

In traditional stroke hand rehabilitation,the rehabilitation practitioner performs relaxation training on the patient’s hand joints.This method is non-standardized.The rehabilitation effect is largely determined by the professional level of the rehabilitation practitioner.With long-term rehabilitation,the lack of physical fitness of the rehabilitation teacher will directly affect the rehabilitation effect.The currently commonly used hand function rehabilitation robots use motor-driven rigid rods to drive finger joints to perform passive flexion and extension movements.This rigid structure can only be used under the supervision of professional rehabilitation personnel.The cost of personalized customization is high,and there are Potential safety hazards hinder the willingness of patients to recover,and it is difficult to promote and apply.Aiming at the poor adaptability of rigid hand functional rehabilitation exoskeleton and the potential safety hazard,this paper designs a pneumatic-driven flexible hand functional rehabilitation robot to improve the rehabilitation training effect of patients’ hands.First,the biological characteristics of the fingers are analyzed and studied.Based on the Vicon motion capture system,it analyzes the joint position changes when the human hand grasps the columnar object,and deduces the joint angle change relationship according to the modeling as the target parameter of the pneumatic actuator design.Based on the experimental data,the motion coupling between the finger joints is analyzed and studied.relationship.This paper has completed the structural design of the flexible pneumatic actuator,analyzed and studied the action principle of the pneumatic actuator,studied the effect of different cross-sectional configurations on the performance,and optimized the cross-sectional design.The size of the pneumatic actuator is designed based on the design target parameters and the finger size parameters.The mold design was carried out,the silicone material was determined,and the manufacturing process of the actuator was optimized.In order to model the kinematics of the pneumatic actuator,assuming that each micro-element segment is a rigid component,a piecewise constant curvature model is used to simplify the model to obtain the end pose.The Yeoh strain energy density function model derivation based on hyperelastic materials studies the relationship between the external input pressure and the bending angle of the flexible pneumatic actuator.The material characteristic parameters are determined through theoretical calculations and tensile experiments on the samples.With the aid of Abaqus,the cross-section selection was verified,the accuracy of the statics model was verified,and the key dimensional parameters were optimized.In this paper,a control system including a flexible pneumatic actuator with a driving execution part and a control part is designed.Two modes of passive training and active assist are designed in the training mode.The pneumatic circuit is designed and the bending angle sensor and the film pressure sensor are calibrated and fitted.Based on PID control,experiments were carried out on the maximum bending angle of the designed hand functional rehabilitation robot and the motion of the MP joint of the thumb,and the accuracy of the statics model was verified.