Design and Control System of a Coupled Bionic Mechanism for Hand Rehabilitation

doi:10.3901/JME.260233

Abstract

Abstract: To address the shortcomings of existing hand rehabilitation robots in terms of structural compactness, wear adaptability, low user satisfaction, and insufficient control precision, a configuration method based on multi-source coupled bionics is proposed. Firstly, the Kano model and analytic hierarchy process (AHP) theory are employed to identify and analyze user requirements, determine their weights, and establish a requirement-function mapping model. Secondly, coupled bionic theory is applied to screen and identify biological prototypes for both the mechanism and control system, clarifying the design positioning and providing a theoretical basis for subsequent mechanism-coupled bionic design. Then, a four-loop ten-bar mechanism driven by linear pushrod motors is proposed as the selected mechanism type. The design encompasses the transmission mechanism, drive structure, human-machine connection, and product appearance. The rationality of the mechanism design is verified through kinematics and dynamics simulations. Finally, a prototype is developed and an experimental platform is constructed. Prototype components are manufactured using 3D printing technology and aluminum alloy laser cutting technology, followed by assembly. A comprehensive evaluation of the mechanism performance of the rehabilitation robot is conducted. The results demonstrate that the designed robot meets all requirements in terms of range of motion, mechanical performance, static simulation, and fatigue life testing. This study, by adopting a biological-product imagery solution, broadens the design concepts for bionic hand rehabilitation robots, offering certain theoretical significance and engineering application value for advancing hand rehabilitation technology.

Key words: industrial design, coupled bionics, hand rehabilitation robot, configuration design

CLC Number:

TB47

WANG Nianwen, WAN Zhonghua, XU Li, JIA Xiaolu, ZHANG Lijie, XIE Ping. Design and Control System of a Coupled Bionic Mechanism for Hand Rehabilitation[J]. Journal of Mechanical Engineering, 2026, 62(5): 133-150.

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URL: http://www.cjmenet.com.cn/EN/10.3901/JME.260233

http://www.cjmenet.com.cn/EN/Y2026/V62/I5/133

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