Abstract
Nowadays, patients with mild and moderate upper limb paralysis caused by cerebral apoplexy are uncomfortable with autonomous rehabilitation. In this paper, according to the “rope + toothed belt” generalized rope drive design scheme, we design a utility model for a wearable upper limb rehabilitation robot with a tension mechanism. Owing to study of the human upper extremity anatomy, movement mechanisms, and the ranges of motion, it can determine the range of motion angles of the human arm joints, and design the shoulder joint, elbow joint, and wrist joint separately under the principle of ensuring the minimum driving torque. Then, the kinematics, workspace and dynamics analysis of each structure are performed. Finally, the control system of the rehabilitation robot is designed. The experimental results show that the structure is convenient to wear on the human body, and the robot’s freedom of movement matches well with the freedom of movement of the human body. It can effectively support and traction the front and rear arms of the affected limb, and accurately transmit the applied traction force to the upper limb of the joints. The rationality of the wearable upper limb rehabilitation robot design is verified, which can help patients achieve rehabilitation training and provide an effective rehabilitation equipment for patients with hemiplegia caused by stroke.
Highlights
The number of young patients with functional impairment of the upper limbs caused by stroke has increased rapidly, as influenced by accelerated pace of life, poor lifestyles and environmental factors [1,2]
Owing to understanding the disadvantages of traditional rehabilitation training and the performances of rehabilitation robots, combined with the human upper limb muscle anatomy characteristic and relevant parameters, we determine the arm movement of each joint angle range from all the bones and joints of upper limb movement characteristics, this paper proposes a design scheme of the tensegrity structure wearable upper limbs rehabilitation robot
In order to determine the parameters of each joint angle under the known position of the end effector, the wearable upper limb rehabilitation robot is solved of inverse kinematics
Summary
The number of young patients with functional impairment of the upper limbs caused by stroke has increased rapidly, as influenced by accelerated pace of life, poor lifestyles and environmental factors [1,2]. The wearable upper limb rehabilitation robot is utilized to the exercise rehabilitation treatment of hemiplegic limb to maintain the range of motion of the limb, prevent the muscle atrophy of the limb, enhance the muscle strength of the limb, and promote the recovery of the limb function It can provide an effective rehabilitation equipment for patients with hemiplegia of upper limb caused by stroke. (1) Owing to the anatomy theory, motion mechanism and range of human upper limbs, a novel wearable upper limb rehabilitation robot with tension mechanism is firstly designed, investigated and analyzed for upper limb injured patients based on flexible transmission during rehabilitation training process. Conclusions are drawn in process is completed for upper limb injured patients, followed by the tracking result of the robot
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