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Title:: Structural analysis and improvement of hand function rehabilitation robot based on aerodynamics

Author(s):: ZHANG Zhiguo; TAO Ruizhi; ZHOU Fan; College of Mechanical and Electrical Engineering, Hohai University, Changzhou 213002, China

Keywords:: Hand function rehabilitation; Aerodynamics; Fluid-structure interaction; Air flow path; Stroke; Numerical simulation

摘要:: 针对现有气动式手功能康复机器人由于气流通路设计不合理，导致训练力度不足、运动准确性差，本研究以经典款气动式手功能康复机器人为研究对象，采用空气动力学方法对原T型式气流通路进行流固耦合分析，并基于仿真结果展开气流通路的改进设计。结果表明，原T型气流通路在各手指管路的连接处出现了紊流，且有大量涡旋产生，对抽气效率产生了严重影响。若将气流通路设计成渐缩T型，则可以显著改善气体的流动状态。在抽气130 ms后，渐缩T型气流通路内的真空度比原T型高出近300 Pa。本研究为气动式手功能康复机器人的改进设计提供了重要的理论指导。

Abstract:: Due to the unreasonable design of air flow path, the existing pneumatic hand functional rehabilitation robot often has insufficient training strength and poor movement accuracy in clinics. We took the classic pneumatic hand functional rehabilitation robot as the research object, used the aerodynamic method to analyze the fluid structure coupling of the original T-shaped air flow path, and developed the improved design of the air flow path based on the simulation results. The results showed that the original T-shaped airflow path had turbulence at the connection of each finger pipe, and generated a large number of vortices, which had a serious impact on the overall pumping efficiency. The gas flow state was significantly improved when the air flow path was designed as a tapered T-shape. After 130 ms pumping, the vacuum degree in the tapered T-shaped air flow path was nearly 300 Pa higher than that of the original T-shaped. This study provides important theoretical guidance to the improvement design of pneumatic type hand function rehabilitation robot.