In this paper,an eccentric bellows soft actuator structure is proposed for hand rehabilitation training,and a soft hand robot with mirror therapy function is developed.The center of the wave crest and trough of the eccentric bellows soft actuator structure has a certain eccentricity,which re-duces its energy loss in the deformation process and improves its adaptability to human hands.The control system of soft hand rehabilitation robot is designed based on mirror therapy.The system has three working modes:active rehabilitation training,passive rehabilitation training and mirror rehabili-tation training.Finally,through grasping experiment,fingertip output force test and mirror training experiment,it is shown that the hand rehabilitation robot designed in this study has good stability and compliance,and can meet the needs of rehabilitation training for patients with hand dysfunction.
关键词
手部康复/软体机器人/致动器/镜像疗法
Key words
hand rehabilitation/soft robot/actuator/mirror therapy
维普
万方数据