Abstract:

BACKGROUND: Clinical application confirms that during the early rehabilitation and spontaneous recovery, continuous passive motion can compensate the insufficient active movement, increase physical activity and decrease the corresponding complications in the patients with postoperative limb or brain nerve injury.
OBJECTIVE: To design a finger rehabilitation training robot based on normal human finger movement trajectory.
METHODS: According to continuous passive motion rehabilitation theory, the rehabilitation training robot was designed. This robot mainly included four fingers mechanism and thumb mechanism, and achieved finger to finger movement using stepper motor.
RESULTS AND CONLUTION: For the rehabilitation of fingers with different length, mechanical motion control experiment was performed. The average relative error between mechanism drive rod and expected data was about 2%. The results demonstrate that the feasibility of mechanical design and control method robot, and the finger rehabilitation training robot can accomplish finger rehabilitation well. Human finger rehabilitation training test will be conducted in future stage.