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. 2023 Apr 15;14(4):858.
doi: 10.3390/mi14040858.

Dynamic Analysis and Experimental Study of Lasso Transmission for Hand Rehabilitation Robot

Jingxin Lu  1   2 , Kai Guo  1   3 , Hongbo Yang  1   2   3
Affiliations

Dynamic Analysis and Experimental Study of Lasso Transmission for Hand Rehabilitation Robot

Jingxin Lu et al. Micromachines (Basel). .

Abstract

Lasso transmission is a method for realizing long-distance flexible transmission and lightweight robots. However, there are transmission characteristic losses of velocity, force, and displacement during the motion of lasso transmission. Therefore, the analysis of transmission characteristic losses of lasso transmission has become the focus of research. For this study, at first, we developed a new flexible hand rehabilitation robot with a lasso transmission method. Second, the theoretical analysis and simulation analysis of the dynamics of the lasso transmission in the flexible hand rehabilitation robot were carried out to calculate the force, velocity, and displacement losses of the lasso transmission. Finally, the mechanism and transmission models were established for experimental studies to measure the effects of different curvatures and speeds on the lasso transmission torque. The experimental data and image analysis results show torque loss in the process of lasso transmission and an increase in torque loss with the increase in the lasso curvature radius and transmission speed. The study of the lasso transmission characteristics is important for the design and control of hand functional rehabilitation robots, providing an important reference for the design of flexible rehabilitation robots and also guiding the research on the lasso regarding the compensation method for transmission losses.

Keywords: lasso transmission; rehabilitation robot; simulation.

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Conflict of interest statement

The authors declare no conflict of interest.

Figures

Figure 1
Figure 1
Flexible driving gloves. (a) HX-β; (b) Soft robot gloves.
Figure 2
Figure 2
Schematic diagram of motion structure of hand connecting rod.
Figure 3
Figure 3
Structure diagram of hand functional rehabilitation robot. (a) Overall structure diagram of hand rehabilitation robot [34,35,36]; (b) Control host; (c) Separation transmission platform; (d) Lasso transmission structure.
Figure 4
Figure 4
(a) Spatial arbitrary rope model diagram; (b) Simplified model of lasso system.
Figure 5
Figure 5
Static analysis diagram of rope micro-element transmission.
Figure 6
Figure 6
Lasso simulation modeling analysis diagram. (a) Grid division diagram; (b) K file model; (c) Dynamic equivalent stress cloud chart.
Figure 7
Figure 7
Lasso transmission characteristic analysis test platform. (a) Model diagram of test platform; (b) Physical diagram of test platform; (c) Assembly drawing of lasso mechanism; (d) Disc with different curvatures.
Figure 8
Figure 8
The resultant force of steel input and output varies with time.
Figure 9
Figure 9
Simulation analysis curve of lasso movement speed and displacement. (a) Speed-time curve; (b) Displacement-time curve.
Figure 10
Figure 10
Experimental data curve of lasso input and output characteristics. (a) Data diagram of lasso input and output torque; (b) Torque-curvature radius diagram; (c) Torque-speed diagram.
Figure 11
Figure 11
Grasping training effect. (a) Finger grasping square box; (b) Finger grasping milk tea; (c) Finger grasping pen; (d) Finger grasping the ball.
Figure 12
Figure 12
Finger training effect. (a) Index finger training; (b) Mid-finger training; (c) The ring finger training.
Figure 13
Figure 13
Finger pull test in rehabilitation training mode. (a) Finger tension measurement experiment; (b) Average diagram of tension on each finger.
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