Study on an Exoskeleton Hand Function Training Device / 生物医学工程学杂志

Based on the structure and motion bionic principle of the normal adult fingers, biological characteristics of human hands were analyzed, and a wearable exoskeleton hand function training device for the rehabilitation of stroke patients or patients with hand trauma was designed. This device includes the exoskeleton mechanical structure and the electromyography (EMG) control system. With adjustable mechanism, the device was capable to fit different finger lengths, and by capturing the EMG of the users' contralateral limb, the motion state of the exoskeleton hand was controlled. Then driven by the device, the user's fingers conducting adduction/abduction rehabilitation training was carried out. Finally, the mechanical properties and training effect of the exoskeleton hand were verified through mechanism simulation and the experiments on the experimental prototype of the wearable exoskeleton hand function training device.

Kinematics Modeling and Analysis of Central-driven Robot for Upper Limb Rehabilitation after Stroke / 生物医学工程学杂志

The present paper proposed a central-driven structure of upper limb rehabilitation robot in order to reduce the volume of the robotic arm in the structure, and also to reduce the influence of motor noise, radiation and other adverse factors on upper limb dysfunction patient. The forward and inverse kinematics equations have been obtained with using the Denavit-Hartenberg (D-H) parameter method. The motion simulation has been done to obtain the angle-time curve of each joint and the position-time curve of handle under setting rehabilitation path by using Solid Works software. Experimental results showed that the rationality with the central-driven structure design had been verified by the fact that the handle could move under setting rehabilitation path. The effectiveness of kinematics equations had been proved, and the error was less than 3° by comparing the angle-time curves obtained from calculation with those from motion simulation.

Research on proportional control system of prosthetic hand based on FMG signals / 生物医学工程学杂志

The control of prosthetic hand is always a focus in prosthesis research. For solving current problems of controlling signals of skin surface electrical signals, we applied force myography (FMG) signals in prosthetic control of this system. The control system based on FMG signals were designed, containing signal acquisition and pre-processing, prosthetic control, motor driving and so on. Two-freedom artificial hand with proportional control was proposed through acquiring two-channel FMG signals from the amputee stump. The proportional control of prosthetic hand was achieved according to the average of FMG amplitude. The results showed that the control system had a great potential to control artificial hand and to realize speed adjustment effectively. Besides, the Virtual instrument software LabVIEW is adopted to establish the FMG signal collection and calibration of experiment system.