Abstract:  Rehabilitation manipulator is a combination of rehabilitation medicine and robotics. Its purpose is to restrict the range of motion of injured limbs with external aids and to rebuild the function of the hand movement system, so as to perform rehabilitation treatment on the affected limbs of patients. This paper expanded the function-behavior-structure (FBS) model, started with the design knowledge flow theory, and incorporated the user needs and principle space to construct a rehabilitation manipulator design scheme based on the FBS expansion model. Through the demand-function-principle-behavior-structure (PFWBS) iterative design decoupling, combined with the biological structure of the hand, this paper systematically analyzed the mapping process of the conceptual model of the rehabilitation manipulator, and constructed a strategy for solving the functional structure of the rehabilitation manipulator. A wearable rehabilitation manipulator was designed for the patient. The simulation analysis and working space solution of the rehabilitation manipulator verified the rationality of the rehabilitation manipulator mechanism. The research analysis shows that the mapping solution strategy based on the FBS extended model provides a certain theoretical basis and practical strategy for the design research of rehabilitation manipulators, which can effectively improve the user experience. 

Key words: stroke, rehabilitation manipulator, FBS extended model, industrial design, simulation analysis