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Design of a hand assisted exoskeleton robot

Published: 14 October 2022 Publication History

Abstract

This paper introduces the simulation research and design of a finger assisted exoskeleton. The purpose of this project is to speed up the rehabilitation of patients with loss of human limb motor function caused by stroke and provide power-assisted exercise equipment. This paper designs a multi-degree of freedom finger exoskeleton system to assist patients in bending and stretching exercise. Through a series of repetitive training and treatment, it increases the possibility of restoring finger motor function. By analysing the basic structure of human finger system, the finger movement is divided into grasping and grasping, and the dynamics of finger exoskeleton system is calculated. The 3D modelling of finger exoskeleton is established by using SolidWorks software, and the DH parameter table and kinematics equation of the exoskeleton are calculated. Combined with MATLAB software, the trajectory planning and related index parameters are generated. Finally, the rationality of the theoretical model is verified by comparing the simulation data and theoretical calculation data, It provides important data and theoretical basis for later finger exoskeleton motion control and model manufacturing.

References

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ICCIR '22: Proceedings of the 2022 2nd International Conference on Control and Intelligent Robotics
June 2022
905 pages
ISBN:9781450397179
DOI:10.1145/3548608
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Published: 14 October 2022

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