Human hands and fingers are of significant importance in people’s capacity to perform daily tasks (touching, feeling, holding, gripping, writing). However, about 1.5 million people around the world are suffering from injuries, muscle and neurological disorders, a loss of hand function, or a few fingers due to stroke. This paper focuses on newly developed finger orthotics, which is thin, adaptable to the length of each finger and low energy costs. The aim of the study is to design and control a new robotic orthosis using for daily rehabilitation therapy. Kinematic and dynamic analysis of orthosis was calculated and the joint regulation of orthosis was obtained. The Lagrange method was used to obtain dynamics, and the Denavit–Hartenberg (D–H) method was used for kinematic analysis of hand. In order to understand its behavior, the robotic finger orthotics model was simulated in MatLab/Simulink. The simulation results show that the efficiency and robustness of proportional integral derivative (PID) controller are appropriate for the use of robotic finger orthotics.

中文翻译：

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可穿戴手指矫形器的设计、动态建模和控制

人的手和手指对于人们执行日常任务（触摸、感觉、握持、抓握、书写）的能力具有重要意义。然而，全世界约有 150 万人因中风而遭受受伤、肌肉和神经系统疾病、手部功能丧失或几根手指的折磨。本文重点介绍新开发的手指矫形器，该矫形器纤薄、可适应每个手指的长度且能量成本低。该研究的目的是设计和控制一种用于日常康复治疗的新型机器人矫形器。计算矫形器的运动学和动力学分析，得到矫形器的关节调节。拉格朗日方法用于获得动力学，Denavit-Hartenberg (D-H) 方法用于手的运动学分析。为了了解它的行为，在 MatLab/Simulink 中模拟了机器人手指矫形器模型。仿真结果表明，比例积分微分（PID）控制器的效率和鲁棒性适用于机器人手指矫形器的使用。