自抗扰手指康复机器人结构及控制系统设计

手是人体最重要的部位之一,老年人由于脑卒中导致手部运动机能下降,给其生活带来了很大不便。为了帮助人们进行手部康复训练,本文提出了一种新型手指康复器,具有结构简单、训练模式多样、性价比高的优点。首先，分析了手指的生物学尺寸、运动特点以及自由度；将手指自由度合理简化，设计出了以带传动为主的机械结构；然后，进行四指运动轨迹规划、动力学分析，并用ADAMS验证了动力学的正确性；最后，针对康复器主动训练提出一种基于自抗扰控制器的恒压力控制系统，并与传统的比例-积分-微分（PID）算法做比较结合仿真分析验证自抗扰控制算法的优越性。

Design of Finger Rehabilitation Device Structureand Control System

Hand is one of the most important parts of the human body. The decline of hand motor function in the elderly caused by stroke brings great inconvenience to their life.In order to help people with hand rehabilitation training, this paper proposes a new type of finger rehabilitation device, which has the advantages of simple structure, diverse training modes and high cost performance.Firstly, the biological size, motion characteristics and freedom of fingers are analyzed.The finger freedom degree is simplified reasonably and the mechanical structure is designed mainly with belt drive.Secondly, the motion trajectory planning and dynamic analysis of the four fingers were carried out, and the correctness of the dynamics was verified by Adams. At last, a constant pressure control system based on the adrc is proposed for the active training of the restorer, which is compared with the traditional Proportion-Integration-Differentiation (PID) algorithm and validated by simulation analysis.