末端牵引式手指康复机器人设计及其柔顺控制方法

here are some obstacles for the finger movement when suffering the stroke, which brings inconvenience to some finger operations in daily life. The existing rehabilitation equipments have problems such as insufficient flexibility and difficulty in adapting to the small space of the hand. In view of this situation, an end traction finger rehabilitation robot was designed to achieve flexion/extension and adduction/abduction in this paper. Meanwhile, the models of kinematics and dynamics of this robot were established, respectively. Then, an impedance control model based on finger training posture was proposed, which can realize the variable stiffness of robot for finger joints. Finally, a test platform was set up for experimental verification. The experimental results showed that this kind of variable stiffness design model can set the corresponding stiffness for different training positions, and the impedance controller based on finger pose can achieve compliance control during finger rehabilitation training.