一种手指康复装置的机构与控制实验

背景：临床证实，在患者肢体手术后或脑神经损伤的早期康复及自发恢复期间，实施连续被动运动可以补偿患者主动运动的不足，增大其肢体活动度，同时减少相应的并发症。 目的：以正常人体手指作对指运动时手指末端轨迹(预期轨迹)参数为基础设计完成手指康复训练机械手。 方法：以连续被动运动康复理论为基础设计了一种手指康复训练机械手，该机械手主要包括四指机构和拇指机构，采用步进电机进行驱动，以实现人体拇指和四指的对指运动。 结果与结论：针对实现不同长度手指的康复要求，实施了机构对指运动实验，机构末端轨迹与预期轨迹之间的相对误差约为2%，由此表明了机构设计及控制方法的可行性，并能够较好满足患者拇指和四指对指运动的康复需求，实验结果验证了该机械手能较好的实现预期运动。下一阶段，将在现有控制实验的基础上实施真人手指康复训练实验。

Mechanical design and motion control experiment of a finger rehabilitation robot

BACKGROUND: Clinical application confirms that during the early rehabilitation and spontaneous recovery, continuous passive motion can compensate the insufficient active movement, increase physical activity and decrease the corresponding complications in the patients with postoperative limb or brain nerve injury. OBJECTIVE: To design a finger rehabilitation training robot based on normal human finger movement trajectory. METHODS: According to continuous passive motion rehabilitation theory, the rehabilitation training robot was designed. This robot mainly included four fingers mechanism and thumb mechanism, and achieved finger to finger movement using stepper motor. RESULTS AND CONLUTION: For the rehabilitation of fingers with different length, mechanical motion control experiment was performed. The average relative error between mechanism drive rod and expected data was about 2%. The results demonstrate that the feasibility of mechanical design and control method robot, and the finger rehabilitation training robot can accomplish finger rehabilitation well. Human finger rehabilitation training test will be conducted in future stage.