Abstract
This paper presents a coupling dynamic model that is based on a spring-damping contact for modeling and analyzing the physical interaction between the soft exoskeleton and the finger. The physiological structure and biomechanical model of the finger were introduced. According to the movement mechanism of the finger, a bionic prototype of the single-finger model, which is driven by shape memory alloy (SMA) wire, was designed, and its mechanical model was established. A spring-damping model was used to expound an interaction force of a human-robot with a coupling dynamic model. The experiment was carried out to verify the exoskeleton mechanical model and determine the bending angle trajectory of each joint. The inverse solution of the coupling dynamic model was verified by using angle data and driving parameters as input. According to the torque relationship, the actual active shrinkage torque of SMA wire was compared with the simulation data for the circumstances with or without consideration of the interaction contact force. The results confirm that the actual values are consistent with the simulation values. After comparing the actual active shrinkage torque and simulation curve without considering the interaction contact force, the error range is between 0 and $19.57~\text {N}\cdot \text {mm}$ . The comparison that considers the interaction contact force model yields an error range between -0.74 and $10.89~\text {N}\cdot \text {mm}$ . The accuracy of the model is increased by an average of 7.05%.
Highlights
Stroke is a disease that seriously endangers human health and can cause various types of nerve damage or even lead to death
After considering the interaction force, the error range is between −0.74 and 10.89N·mm, and the model accuracy is improved by 7.05% on average
In this paper, the problem of the human-machine interaction force, which is seldom considered in the dynamic modeling of the hand rehabilitation exoskeleton equipment, is investigated
Summary
Stroke is a disease that seriously endangers human health and can cause various types of nerve damage or even lead to death. 80% of stroke survivors will lose their ability to live independently and may even have permanent disability, which will seriously affect their mental health and quality of life. The hand is the most important sensory organ of humans. Stroke will have a great influence on the movement mechanism of the hand after nerve damage. Six months after experiencing a stroke, 65% of patients lost their hand function and could not perform daily. The associate editor coordinating the review of this manuscript and approving it for publication was Yingxiang Liu. operations [1]. They need rehabilitation training to improve hand function
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