Design, modeling, and characteristic analysis of an index finger exoskeleton for rehabilitation

Abstract

Since the rehabilitation hand exoskeleton robot is the current research hotspot, it can play a great role in patients’ hand rehabilitation and can replace the rehabilitation physician to treat the patient. Many of today’s rehabilitation hand exoskeleton robots can not achieve a good rehabilitation effect. In order to improve the treatment effect of the rehabilitation hand exoskeleton robot on patients and alleviate the pressure of insufficient human hands in China’s rehabilitation physicians, this paper, on the basis of analyzing the biological characteristics of the human hand, focuses on the functional analysis of the rehabilitation exoskeleton hand, the mechanical structure design of the exoskeleton hand, Kinematic analysis, Modeling and simulation to design an exoskeleton hand using a one-wheel-two way combining sliding guide rod and SEA tandem elastic drive to achieve the mechanism that can adjust the stretch according to the length of the finger and the rehabilitation force perpendicular for the purpose of the finger surface. A closed-loop structure is established to analyze the mechanism of plane motion of the structure and the coupling of the structure and the range of motion of the human hand. Through simulation analysis of the motion trajectory of the structure and the stability of the dynamic model analysis system based on the force source control method to establish a dynamic model of the tandem elastic drive, the results show that the DIP joint rotation angle is 16-73 degrees, the PIP joint rotation angle is 0-108 degrees, and the MP joint is 0-86 degrees, which is basically consistent with the human hand, and the series elastic drive should choose a smaller stiffness and larger damping to ensure the stability of the system.