Analysis And Research Based On Soft Bending Pneumatic Actuator

摘要

This article describes a wearable hand rehabilitation robot based on a new bending pneumatic muscle actuator. The soft bending pneumatic actuator(SBPA) is a pneumatically driven rubber material that is flexible and designed from the linear pneumatic muscle actuator. The bending motion is formed by the difference in the bending strength between the bottom and the back sides. The second-order nonlinear dynamics model of the SBPA is established by the motion analysis of the new actuator, and the model is verified and model compensated. In the end, a wearable hand rehabilitation robot glove is designed based on the sporty characteristics of the bending actuator. This flexible glove can be worn on the hand for simple grasping action to help the numb hand to carry out rehabilitation training.