Research On Movement Interference Mechanism And Force Position Drive System Of Hand Exoskeleton

Stroke is the number one cause of disability among adults worldwide.In addition,with the development of industrialization,there are frequent disability accidents in construction sites,workshops and traffic,which may lead to varying degrees of impairment or loss of human motor functions and bring heavy pain and burden to patients and their families.In the past 30 years,more and more researchers have turned their attention to the research field of hand exoskeletons to alleviate the shortage of professional doctors and provide effective rehabilitation and repetitive training without significantly increasing costs.Although various hand exoskeleton robots have emerged,there are still many problems at this stage:some hand exoskeleton structures interfere with the human hand movement space,but no relevant researchers have conducted quantitative interference analysis and research,most of the hand The exoskeleton drive system is complex and bloated,and the applicability of individual differences is poor.In view of the existing problems of the above-mentioned hand exoskeleton,this article will start with the research of the finger-side hand exoskeleton,conduct a quantitative interference analysis study of the finger hand exoskeleton on the finger motion space,and design a model with strong applicability for individual differences,simple and compact structure,easy to carry,low-cost full-hand hand exoskeleton system.In summary,the main research contents of this article are as follows:(1)The research and analysis of the movement interference mechanism of the finger side hand exoskeleton.Based on the kinematics model of the human hand,the dynamic gap analysis between the four fingers is carried out,the movement interference mechanism and the three-dimensional movement space model construction of the human fingertips are completed,and the design guidelines for the finger hand exoskeleton are proposed to provide theoretical support for the design and optimization of the finger side hand exoskeleton.(2)Design and optimization of finger side hand exoskeleton mechanism.According to the above design guidelines,Determine the allowable size and layout of the hand exoskeleton between the fingers,and complete the design and optimization of the four-finger and thumb exoskeleton mechanism.Then,the exoskeleton fingertip movement space model was established and compared with the human fingertip movement space model to verify the rationality of the exoskeleton design.Finally,the design and verification of the fixation mechanism between the thumb exoskeleton and the index finger exoskeleton(the I-T adaptive fixation mechanism)is carried out.(3)Design of hand exoskeleton drive transmission scheme and force position control system.First,in view of the compact and small available space,the design of the cable drive transmission scheme is determined;then,the mathematical model of the drive transmission scheme is established for subsequent analysis and research of the control part;finally,based on the exoskeleton device designed in this paper,Design the PID control system of position and fingertip force.(4)Hand exoskeleton integration system and evaluation.According to the designed data acquisition system(angle data acquisition unit and fingertip force data acquisition unit),establish the corresponding mathematical model and complete the corresponding experimental calibration.Then,a relevant experimental platform was built for comprehensive experimental evaluation,and based on the above-mentioned data acquisition system,verification experiment on interference of hand exoskeleton with too large inter-digital size on human hand movement,the driving transmission scheme and the control effect verification experiment were completed.