Multimodal motion analysis in the finger exoskeleton rehabilitation exercise

Haoxiang Cui; Botao Lai; Qiuwei Zheng

doi:10.1117/12.2660835

31 October 2022 Multimodal motion analysis in the finger exoskeleton rehabilitation exercise

Haoxiang Cui, Botao Lai, Qiuwei Zheng

Proceedings Volume 12457, Second International Conference on Testing Technology and Automation Engineering (TTAE 2022); 1245717 (2022) https://doi.org/10.1117/12.2660835
Event: Second International Conference on Testing Technology and Automation Engineering (TTAE 2022), 2022, Changchun, China

Abstract

Stroke, also known as cerebrovascular disease, is a disease in which cerebral vessels are ruptured or blocked, resulting in ischemia, hypoxia or necrosis of brain tissue. After the onset of the disease, most patients are accompanied by symptoms such as hemiplegia, which will affect the function of the hands. Through investigation and study, the existing hand rehabilitation exoskeleton is mainly aimed at inward contraction and abduction (finger expansion and contraction), which is a rehabilitation movement lack of regional abduction (finger swing) rehabilitation exercise. Therefore, this design is aimed at stroke patients who have no autonomous grasping ability in the rehabilitation stage. Based on the rehabilitation theory, the passive rehabilitation training scheme is put forward, and two kinds of movements, namely, regional stretching and inward contraction and outward abduction. A novel finger exoskeleton is proposed. The exoskeleton has series elastic drive based on Bowden cable, which allows bidirectional torque control of fingers (except thumb) alone. According to the degree of freedom of finger joints, three series elastic drives of Bowden cables are designed at corresponding positions to complete and combine the two rehabilitation movements. After that, PROE modeling and simulation, MATLAB robot model building, DH method solving forward kinematics solution, Laplace transform solving open-loop and closed-loop transfer function of moment and speed of MCP joint are used for design verification. Finally, the forward kinematics results, transfer function results and 5-degree polynomial fitting curve results prove that the idea conforms to the original design intention, and finally shows that the exoskeleton hand rehabilitation robot designed covers the two rehabilitation plans proposed.

Citation Download Citation

Haoxiang Cui, Botao Lai, and Qiuwei Zheng "Multimodal motion analysis in the finger exoskeleton rehabilitation exercise", Proc. SPIE 12457, Second International Conference on Testing Technology and Automation Engineering (TTAE 2022), 1245717 (31 October 2022); https://doi.org/10.1117/12.2660835

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KEYWORDS

Microchannel plates

Kinematics

3D modeling

Feedback control

Mathematical modeling

Motion analysis

Design for manufacturability

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