Mechanism and Control System Design of a Finger & Wrist Rehabilitation Robot

Abstract

Taking advantage of rehabilitation robot to help to practice rehabilitation training has been a fashion trend. To mimic the training procedure on finger & wrist, in this paper, an intelligent rehabilitation is proposed. This robot combines the active and passive training together. And the robot can be used in the early rehabilitation. With the analysis of the physiological characters of finger and wrist, the humanlike model of finger and wrist joint was established, and the mechanism of finger and wrist rehabilitation robot is designed following the model. The position control experiments and the force control experiments were carried out to confirm the abilities of the proposed robot. All the results of the experiments lead to the worth of capabilities of this robot, and the technical value for the further research.