Mechatronics System Design and Implementation of a Pneumatic Hand Rehabilitation Device

This study presents the development of a mechatronic device for an additively manufactured Pneumatic Artificial Muscle (PAM) rehabilitation orthosis. Within this scope, the system's electro-pneumatic, mechanical, control, and software designs have been designed and implemented. The device, intended to directly interact with both patients and therapists within the bio-mechatronic process, is equipped with an intuitive graphical user interface (GUI). Utilizing a FlexSensor to measure hand flexion/extension angles, the device employs a solenoid valve, along with a trigger relay, for the inflation and deflation of the orthosis. During the electronic design phase, challenges such as interference and latency were mitigated through the implementation of isolations in the design. Employing a PD (Proportion-Derivative) control loop on the ATmega328 microcontroller, control parameters were determined empirically. By excluding a compressor pump inside the device, a lightweight, portable, and cost-effective system was accomplished. While potential enhancements discussed in the conclusion will be considered in future studies, the current prototype effectively fulfills the project objectives.