Design and Dimension Optimization of Rigid–Soft Hand Function Rehabilitation Robots
The growing population of hand dysfunction patients necessitates advanced rehabilitation technologies. Current robotic solutions face limitations in motion compatibility and systematic design frameworks. This study develops a rigid–soft coupling rehabilitation robot integrating linkage mechanisms wi...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-04-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/13/4/311 |
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| author | Rui Zhang Meng Ning Yuqian Wang Jun Yang |
| author_facet | Rui Zhang Meng Ning Yuqian Wang Jun Yang |
| author_sort | Rui Zhang |
| collection | DOAJ |
| description | The growing population of hand dysfunction patients necessitates advanced rehabilitation technologies. Current robotic solutions face limitations in motion compatibility and systematic design frameworks. This study develops a rigid–soft coupling rehabilitation robot integrating linkage mechanisms with soft components. A machine vision system captures natural grasping trajectories, analyzed through polynomial regression. Hierarchical constraint modeling and an improved artificial bee colony algorithm optimize linkage dimensions and control strategies, achieving enhanced human–robot kinematic matching. Finite element simulations using a Yeoh hyperelastic model refine soft component geometry for balance compliance and coordination. Prototype validation demonstrates high-precision trajectory tracking, grasping across 20–70 mm objects, and steady fingertip forces during training. Experimental results confirm the system’s ability to replicate physiological motion patterns and adapt to multiple rehabilitation scenarios. |
| format | Article |
| id | doaj-art-31cbda9bdfc74d7ebf4cfcca4e298c19 |
| institution | OA Journals |
| issn | 2075-1702 |
| language | English |
| publishDate | 2025-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj-art-31cbda9bdfc74d7ebf4cfcca4e298c192025-08-20T02:18:09ZengMDPI AGMachines2075-17022025-04-0113431110.3390/machines13040311Design and Dimension Optimization of Rigid–Soft Hand Function Rehabilitation RobotsRui Zhang0Meng Ning1Yuqian Wang2Jun Yang3Department of Automation teaching and Research, School of Intelligent Engineering, Jiangsu Vocational College of Information Technology, Wuxi 214153, ChinaDepartment of Robotics Engineering, School of Intelligent Manufacturing, Jiangnan University, Wuxi 214122, ChinaDepartment of Robotics Engineering, School of Intelligent Manufacturing, Jiangnan University, Wuxi 214122, ChinaDepartment of Robotics Engineering, School of Intelligent Manufacturing, Jiangnan University, Wuxi 214122, ChinaThe growing population of hand dysfunction patients necessitates advanced rehabilitation technologies. Current robotic solutions face limitations in motion compatibility and systematic design frameworks. This study develops a rigid–soft coupling rehabilitation robot integrating linkage mechanisms with soft components. A machine vision system captures natural grasping trajectories, analyzed through polynomial regression. Hierarchical constraint modeling and an improved artificial bee colony algorithm optimize linkage dimensions and control strategies, achieving enhanced human–robot kinematic matching. Finite element simulations using a Yeoh hyperelastic model refine soft component geometry for balance compliance and coordination. Prototype validation demonstrates high-precision trajectory tracking, grasping across 20–70 mm objects, and steady fingertip forces during training. Experimental results confirm the system’s ability to replicate physiological motion patterns and adapt to multiple rehabilitation scenarios.https://www.mdpi.com/2075-1702/13/4/311hand functionrehabilitation robotrigid–softmotion matchingsix-bar mechanismdimension optimization |
| spellingShingle | Rui Zhang Meng Ning Yuqian Wang Jun Yang Design and Dimension Optimization of Rigid–Soft Hand Function Rehabilitation Robots Machines hand function rehabilitation robot rigid–soft motion matching six-bar mechanism dimension optimization |
| title | Design and Dimension Optimization of Rigid–Soft Hand Function Rehabilitation Robots |
| title_full | Design and Dimension Optimization of Rigid–Soft Hand Function Rehabilitation Robots |
| title_fullStr | Design and Dimension Optimization of Rigid–Soft Hand Function Rehabilitation Robots |
| title_full_unstemmed | Design and Dimension Optimization of Rigid–Soft Hand Function Rehabilitation Robots |
| title_short | Design and Dimension Optimization of Rigid–Soft Hand Function Rehabilitation Robots |
| title_sort | design and dimension optimization of rigid soft hand function rehabilitation robots |
| topic | hand function rehabilitation robot rigid–soft motion matching six-bar mechanism dimension optimization |
| url | https://www.mdpi.com/2075-1702/13/4/311 |
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