RFWBS Model: Multilevel Hybrid Mapping Solution Framework for Designing Neurorehabilitation Physiotherapy Devices

Healthcare services and rehabilitation equipment have entered a phase of rapid development driven by user requirements. However, the development of corresponding design models for rehabilitation equipment is lacking. A general framework and development process are urgently needed for neurorehabilitation physiotherapy equipment. To address problems such as inadequate knowledge representation in the design process and difficulties in modeling the functional structure of the product, we combined a decomposition topology model of neurorehabilitation physiotherapy equipment with the modular design method. We proposed a general model for the design of neurorehabilitation physiotherapy equipment comprising the following modules: requirements (R), function (F), principle workspace (W), behavior (B), and structure (S), i.e., the RFWBS model. Using the neurorehabilitation robotic glove as an example for design practice, in terms of kinematics, the mechanism is analyzed by establishing a Lagrangian coordinate system for resolution. The mechanism has three degrees of freedom and can achieve the natural flexion and extension angles of each finger joint. In terms of dynamics, during the entire finger extension, the angular acceleration is almost zero, and the average angular velocity is approximately 30~50°/s. This indicates that the mechanism is suitable for wearable use, validating the scientific and effective nature of the RFWBS expanded model.