Development of a finger rehabilitation robot based on sliding slot linkage mechanism

Rehabilitation training for stroke patients is a technical and social problem. A new type of pneumatic finger rehabilitation robot was presented based on sliding slot linkage mechanism. Through the analysis of the biological structure of the human hand, the sliding slot linkage mechanism with characteristics of combination drive, size adjustable and safety protection was developed. The detailed structure and control system of the finger rehabilitation robot were designed. Finite element analysis of the main parts and kinematic simulation of the mechanism were performed to verify the structural strength and motion feature of the finger rehabilitation robot, respectively. Finally, the prototype model of the sliding slot linkage mechanism was fabricated and a series motion tests were conducted. Results indicate that the finger rehabilitation robot is reliable and could satisfy the requirements of finger rehabilitation training.