This paper presents the modeling design method for a novel hybrid-driven compliant hand exoskeleton based on the human-machine coupling model for the patients who have requirements on training and assisting. Firstly, the human-machine coupling model is established based on the kinematics characteristics of human fingers and the Bernoulli beam formula. On this basis, the variable stiffness flexible hinge (VSFH) is used to drive the finger extension and the cable-driven mechanism is used to implement the movement of the finger flexion. Here, a hand orthosis is designed in the proposed hand exoskeleton to act as the base and maintain the function position of the hand for patients with hand dysfunction. Then, a final design prototype is fabricated to evaluate the proposed modeling method. In the end, a series of experiments based on the prototype is proceeded to evaluate its capabilities on stretching force for extension, bio-imitability, finger flexion capability, and fingertip force. The results show that the prototype has a significant improvement in all aspects of the ability mentioned above, and has good bionics. The proposed design method can be utilized to implement the rapid design of the hybrid-driven compliant hand exoskeleton with the changed requirements. The novel modeling method can be easily applied in personalized design in rehabilitation engineering.
This paper presents the mechanical design and test of a portable hand-elbow combination linkage upper limb rehabilitation robot, which can realize the joint movement of the hand joint and elbow joint and reproduce the complete grasping action. The joints that need bionic support are determined according to the characteristics of human upper limbs and hands, and the overall bionic mechanism is designed. The Motion module in SolidWorks is used to simulate and analyze the rehabilitation robot. The measurement experiment and grasping experiment of joint mobility are carried out on the experimental prototype. As a result, the angular displacement and linear displacement curves obtained via the simulation results are smooth. The measurement experiment of the joint range of motion confirms that the joint range of motion is also within the range of the normal joint angle of the human body, and the grasping experiment shows that the exoskeleton can grasp and lift a 1.801-kg cylindrical object and other daily necessities of different shapes. This result shows that the design of the portable hand-elbow combination linkage upper limb rehabilitation robot is reasonable, can satisfy the rehabilitation training requirements of the hand and upper limb, and has some ability to assist users in daily life.
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