Design, Analysis and Control of the 4 Fingers Rehabilitation Robot

Talk due to brain stroke may revert their ability back to normal or near normalwith the assistance of rehabilitation robots. previous literature reviews ofrehabilitation studies have shown that, in most cases, repeated movementof a patient’s member can help restore the function of the injured member inpatients, in which, the use of robots can be very effective.methods: the method of this research is the experimental method. the paperaims to investigate the ability of a parallel robot for rehabilitation of injuredfingers. the motions of human finger joints for physical therapy purposes hasbeen investigated and been considered as the optimal route of the design processand as the set point of control procedure of robot movements. the proposedrobot has been designed with the right choice of kinematic loops, where therobot pursues the optimal path to rehabilitation, and at the same time, doesnot come into direct contact with the patient, allowing the patient to be moretolerant as they feel more comfortable and at ease. in addition to the abovementionedadvantages, the designed robot reduces the number of operators aswell as the number of parameters necessary to change and control the algorithmfor different patients.results: after presenting the robot’s conceptual design, the kinematics analysisof the robot was dealt with. in the next step, the dynamic equations of the robotwere extracted. ultimately, using the control methods, the position, stabilityand efficiency of the rehabilitation robot was simulated. finally, the constructedprototype of the robot is presented and control method and program sectors areintroduced.conclusion: the proposed robot for rehabilitation of four fingers with a simplifieddesign and low cost of manufacturing could be used in robotic applications inhome based care for disabled people.