Abstract
Based on the analysis of the physiological structure and specific mechanism of the human upper limb joint, combined with the pathogenesis of stroke and the traditional rehabilitation training mode of stroke, this paper proposes a new type of pneumatic driven rigid-flexible mixed rehabilitation mechanism of the upper limb. It is composed of 5 active degrees of freedom and 4 passive degrees of freedom and realizes the 9 degrees of freedom assisted motion rehabilitation mechanism of the shoulder joint, elbow joint, and wrist joint. Through the independent analysis of the movement of each joint of the upper limb, pneumatic muscle or cylinder are used for different joints to realize pneumatic hybrid drive. These factors, combined with the characteristics of pneumatic drive, are portable and wearable, making the rehabilitation robot system nonlinear, time-varying, and time-delay. The rationality and assistance of the mechanism are verified by experiments, and the purpose of the exoskeleton mechanism to effectively assist the rehabilitation of patients is realized.
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