Abstract This paper presents the development of a finger rehabilitation robot (FRR) for active and passive training to fulfill the requirements of different rehabilitation stages. In the design, an antagonistic pair of pneumatic muscles (PMs) are utilized to exert a bidirectional force for passive training, and a controllable magnetorheological (MR) damper is used to provide a damping force for active training. In this paper, first, a detailed illustration of the mechanical design of the FRR, including the driving, transmission and actuating mechanisms, and the damping device, is presented. Subsequently, the kinematic analysis and simulation are described, followed by the static and dynamic analysis of the designed FRR. This paper details the static force transfer of the transmission mechanism, and the establishment of dynamic equations for the passive training system. Finally, an experimental set-up is established, and several passive and active training experiments are conducted for the performance evaluation of the FRR prototype. The results validate the feasibility and stability of the developed FRR.

中文翻译：

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基于气动肌肉和磁流变阻尼器的主动和被动手指康复机器人的研制

摘要 本文介绍了一种用于主动和被动训练的手指康复机器人（FRR）的开发，以满足不同康复阶段的要求。在设计中，一对对立的气动肌肉（PMs）用于被动训练的双向力，可控磁流变（MR）阻尼器用于主动训练提供阻尼力。在本文中，首先详细说明了 FRR 的机械设计，包括驱动、传动和执行机构以及阻尼装置。随后，描述了运动学分析和仿真，然后是设计的 FRR 的静态和动态分析。本文详细介绍了传动机构的静力传递，以及被动训练系统动力学方程的建立。最后，建立了实验装置，并进行了多次被动和主动训练实验，以评估 FRR 原型的性能。结果验证了开发的FRR的可行性和稳定性。