Design and analysis of rehabilitation hand based on segmented multi-chamber actuator

The soft rehabilitation hand has become a research hotspot in the field of robotics due to its good environmental adaptability and coupling safety. To make the soft rehabilitation hand have a large degree of freedom and strong driving force, as well as being comfortable and lightweight to wear, this paper designs a segmented multi-chamber actuator soft rehabilitation glove based on the principle of bionics. The actuators of different finger types and bone segments, which are also various in shape and size, are assembled in parallel to realize diverse movement forms of fingers. The motion deformation mechanism of the rehabilitation hand is studied, and the driving effect of the soft finger is analyzed with the help of ABAQUS finite element analysis software. 3D printing technology and pouring molding technology were used to make segmented soft rehabilitation finger physical prototype. The accuracy of the simulation model was verified by comparison and analysis of simulation data and experimental data. Simultaneously driving three brake joints through a rehabilitation single finger from 0 to 60 kPa, the motion trajectory and bending angles were tracked. A comparative analysis between simulation data and experimental data was conducted to validate the accuracy of the simulation model.