Research on exoskeleton structure design of hand function rehabilitation robot

In order to develop a hand function rehabilitation device that is convenient for patients to wear and operate and has a simple structure, the physiological structure of fingers was analyzed. On the basis of the form and principle of finger movement, this paper proposes a design scheme for the exoskeleton structure of the hand function rehabilitation robot with shape memory alloy (SMA) wire as the driver, establishes the driving model and conducts kinematic analysis of the simplified model of the finger, it is calculated that the length of alloy wire required for a normal finger to complete a limit buckling action is 600mm. A prototype of a hand function rehabilitation robot was developed and a test platform was built. Finger bending test and fingertip force test under different voltages were carried out to verify the performance of the hand function rehabilitation soft exoskeleton robot.