Mechanism Design and Performance Analysis of a Wearable Hand Rehabilitation Robot
Hand rehabilitation is critical to the recovery of post-stroke patients. However, designing a modular mechanism of the hand to improve the human-machine compatibility and precision of operation is still a challenge. This paper proposes a new type of hand exoskeleton rehabilitation robot with nine de...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-12-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/10/12/1211 |
| _version_ | 1827637983064358912 |
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| author | Jiazheng Du Yu Tian Dagan Zhang Hongbo Wang Yongshun Zhang Bo Cheng Jianye Niu |
| author_facet | Jiazheng Du Yu Tian Dagan Zhang Hongbo Wang Yongshun Zhang Bo Cheng Jianye Niu |
| author_sort | Jiazheng Du |
| collection | DOAJ |
| description | Hand rehabilitation is critical to the recovery of post-stroke patients. However, designing a modular mechanism of the hand to improve the human-machine compatibility and precision of operation is still a challenge. This paper proposes a new type of hand exoskeleton rehabilitation robot with nine degrees of freedom. With the flexible rods, the passive range of motion for finger adduction/abduction is extended under the premise of independent flexion/extension of the metacarpophalangeal and proximal interphalangeal joint. Based on hand anatomy, the relationship between the offset of the metacarpophalangeal joint and the body height in the process of flexion and extension is discussed, and it is applied to the structure optimization and control system. The genetic algorithm is employed to achieve the size optimization, and the kinematics is analyzed. Finally, a prototype is built and preliminary experiments are carried out, including the range of motion and the grasping ability of the robot. The experimental results show that the robot can realize the patients’ hand rehabilitation function and has certain adaptability. |
| first_indexed | 2024-03-09T16:10:16Z |
| format | Article |
| id | doaj.art-a74deab0c58240e3afbba9754d074d12 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-09T16:10:16Z |
| publishDate | 2022-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-a74deab0c58240e3afbba9754d074d122023-11-24T16:17:30ZengMDPI AGMachines2075-17022022-12-011012121110.3390/machines10121211Mechanism Design and Performance Analysis of a Wearable Hand Rehabilitation RobotJiazheng Du0Yu Tian1Dagan Zhang2Hongbo Wang3Yongshun Zhang4Bo Cheng5Jianye Niu6Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004, ChinaHebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004, ChinaHebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004, ChinaHebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004, ChinaContec Medical Systems Co., Ltd., Qinhuangdao 066004, ChinaOperating Room, Qinhuangdao Hospital of Traditional Chinese Medicine, Qinhuangdao 066004, ChinaHebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004, ChinaHand rehabilitation is critical to the recovery of post-stroke patients. However, designing a modular mechanism of the hand to improve the human-machine compatibility and precision of operation is still a challenge. This paper proposes a new type of hand exoskeleton rehabilitation robot with nine degrees of freedom. With the flexible rods, the passive range of motion for finger adduction/abduction is extended under the premise of independent flexion/extension of the metacarpophalangeal and proximal interphalangeal joint. Based on hand anatomy, the relationship between the offset of the metacarpophalangeal joint and the body height in the process of flexion and extension is discussed, and it is applied to the structure optimization and control system. The genetic algorithm is employed to achieve the size optimization, and the kinematics is analyzed. Finally, a prototype is built and preliminary experiments are carried out, including the range of motion and the grasping ability of the robot. The experimental results show that the robot can realize the patients’ hand rehabilitation function and has certain adaptability.https://www.mdpi.com/2075-1702/10/12/1211hand rehabilitationmodularized structurejoint coupling motionsremotely driven |
| spellingShingle | Jiazheng Du Yu Tian Dagan Zhang Hongbo Wang Yongshun Zhang Bo Cheng Jianye Niu Mechanism Design and Performance Analysis of a Wearable Hand Rehabilitation Robot Machines hand rehabilitation modularized structure joint coupling motions remotely driven |
| title | Mechanism Design and Performance Analysis of a Wearable Hand Rehabilitation Robot |
| title_full | Mechanism Design and Performance Analysis of a Wearable Hand Rehabilitation Robot |
| title_fullStr | Mechanism Design and Performance Analysis of a Wearable Hand Rehabilitation Robot |
| title_full_unstemmed | Mechanism Design and Performance Analysis of a Wearable Hand Rehabilitation Robot |
| title_short | Mechanism Design and Performance Analysis of a Wearable Hand Rehabilitation Robot |
| title_sort | mechanism design and performance analysis of a wearable hand rehabilitation robot |
| topic | hand rehabilitation modularized structure joint coupling motions remotely driven |
| url | https://www.mdpi.com/2075-1702/10/12/1211 |
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