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access icon openaccess System study of pneumatic exoskeleton rehabilitation manipulator

This is an open access article published by the IET under the Creative Commons Attribution-NonCommercial-NoDerivs License (http://creativecommons.org/licenses/by-nc-nd/3.0/)
Received 02/10/2018, Accepted 12/10/2018, Published 22/10/2018

In this study, biological characteristic of manpower is analysed and then the structural of exoskeleton rehabilitation manipulator is designed base on the thought of modular. First, the overall assembly drawing is drawn by SolidWorks. Second, the controlled pneumatic system is designed. The mainly contents are selecting mini pneumatic cylinder as a driver and controlling electromagnetic reversing valve which can lead to the piston movement of cylinder by STM32F429 microcontroller. At last, the movement simulation of exoskeleton rehabilitation manipulator is done and analysed by ADAMS, and then the experimental research of the same move pattern with simulation is carried out. It is proved that the pneumatic exoskeleton rehabilitation manipulator system has certain reliability and feasibility. Furthermore, it has the ability to meet the rehabilitation needs of patients with finger movement disorders.

Inspec keywords: patient rehabilitation; microcontrollers; position control; manipulators; pistons; pneumatic actuators; valves; pneumatic systems; medical robotics; handicapped aids

Other keywords: pneumatic exoskeleton rehabilitation manipulator system; mini pneumatic cylinder; STM32F429 microcontroller; system study; electromagnetic reversing valve; movement simulation; assembly drawing; controlled pneumatic system

Subjects: Hydraulic and pneumatic control equipment; Spatial variables control; Manipulators; Biological and medical control systems

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