Abstract
Currently, most of the finger rehabilitation mechanisms achieve the desired motion by scale synthesis or using multi-degree-of-freedom (DOF) mechanisms, which cannot simultaneously achieve the requirements of posture and trajectory for finger rehabilitation. Aiming to solve this problem, this study proposes a single-DOF noncircular pulley-five-bar finger rehabilitation mechanism, obtains the pose requirements of finger movement and extracts four important poses. The solution domain of the five-bar mechanism with four poses was solved using the solution-region synthesis method, and the noncircular pulley was used to constrain two rods, making it a single-DOF mechanism. According to the requirements of the finger rehabilitation mechanism and considering the force transmission characteristics of the mechanism, the mechanism parameter optimization model is established, and the optimal parameters are optimized. The calculation model of noncircular pulley transmission is established, and the profile of noncircular pulley is solved according to the obtained rod rotation angle relationship. A finger rehabilitation device was developed, and an experimental study was performed. It was found that the device passed four poses, and the actual trajectory was consistent with the target trajectory. It is confirmed that the single-DOF noncircular pulley-five-bar finger rehabilitation mechanism proposed is effective, and solution method are correct.
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