Research on sensing and measuring system for a hand rehabilitation robot

This paper mainly discusses the sensing and measuring system for a hand rehabilitation robot. Through analyzing the whole system structure and rehabilitation strategies of hand rehabilitation robot, a sensing and measuring system scheme is designed. By integrating joint position sensors and force sensors, the robot can perceive the joint angle information of patient´s finger and the interaction force with the robot in real time. The position sensors system which has the feature of separate incremental encoders and potentiometers but integrating information they produce, can compress the space occupied and provide higher measuring accuracy; By means of using pairs of thin-film flexible pressure sensors for acquiring interaction force, the robot system possess higher measuring accuracy and a compact structure. Experimental results show the feasibility and effectiveness of the sensing and measuring system of the hand rehabilitation robot.