Analysis of a kinematically compatible hand rehabilitation exoskeleton robot

Linhan Guo; Yiyao Han; Jianping Ni

doi:10.1117/12.2681293

23 May 2023 Analysis of a kinematically compatible hand rehabilitation exoskeleton robot

Linhan Guo, Yiyao Han, Jianping Ni

Proceedings Volume 12645, International Conference on Computer, Artificial Intelligence, and Control Engineering (CAICE 2023); 126454Y (2023) https://doi.org/10.1117/12.2681293
Event: International Conference on Computer, Artificial Intelligence, and Control Engineering (CAICE 2023), 2023, Hangzhou, China

Abstract

In recent years, hand rehabilitation exoskeleton robots have developed rapidly and are mainly used to provide scientific and effective rehabilitation training for patients with motor dysfunction. These devices are usually in direct contact with the user, so their human-robot interaction has a direct impact on performance. Poor handling of the kinematic compatibility between the robot and the human skeleton can affect the torque transmitted to the patient's joints and overload the joints and soft tissues. The purpose of this paper is to investigate the kinematic characteristics of the human-robot compatible part of the hand exoskeleton rehabilitation robot when coupled to the finger and the factors affecting it. In this paper, a kinematic-compatible exoskeleton robot for hand rehabilitation was designed using a kinematic solution based on a kinematic-compatible mechanism (robot-human skeleton). The kinematic trajectory of this exoskeleton robot model is further simulated and validated using MATLAB software, which confirms that it is free from misalignment and has overall flexibility. This paper can solve the axis misalignment problem of the hand exoskeleton robot more effectively, which makes the rehabilitation training of patients more effective and safer. Meanwhile, this paper discusses the reasonable working space range of human-robot coupling and, on this basis, the possible secondary injury problem when the fingers are coupled with the rehabilitation exoskeleton.

Citation Download Citation

Linhan Guo, Yiyao Han, and Jianping Ni "Analysis of a kinematically compatible hand rehabilitation exoskeleton robot", Proc. SPIE 12645, International Conference on Computer, Artificial Intelligence, and Control Engineering (CAICE 2023), 126454Y (23 May 2023); https://doi.org/10.1117/12.2681293

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KEYWORDS

Kinematics

Design and modelling

Education and training

Injuries

Matrices

Bone

Motion analysis

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