Development, Research, Optimization and Experiment of Exoskeleton Robot for Hand Rehabilitation Training

Abstract

As one of the most influential symptoms of daily life after stroke, hand dysfunction has seriously affected the quality of life of patients and families. At present, the commonly used rehabilitation method is to carry out continuous passive training on the patient’s fingers with the help of physical therapists, so as to promote the rehabilitation of the hands. However, this kind of therapist-assisted rehabilitation greatly increases the cost of rehabilitation treatment and is not conducive to the promotion of household use. Many exoskeleton hand rehabilitation robots still lack in overall weight and control, resulting in the application potential of exoskeleton hand rehabilitation robots not being fully developed, and the commercial and clinical success cases are limited. The research of this paper focuses on the structural design and electronic control design of the exoskeleton hand rehabilitation robot. Through the design of an exoskeleton hand rehabilitation robot suitable for human hands, the kinematics parameters are obtained by kinematics simulation, and the lightweight design of the hand rehabilitation robot is completed by using topology optimization. At the same time, this paper shows the development technology of the rehabilitation robot control system. We hope that through the subsequent product development, the exoskeleton hand rehabilitation robot studied in this paper can be applied in the future.