Abstract
Robot-assisted upper limb rehabilitation training was proposed instead of the traditional rehabilitation training in this paper. The basic principle of motor function recovery is the medical theoretical basis of robot-assisted rehabilitation training, and contains two aspects, one is that the central nervous system has a high degree of plasticity after the brain injury, and the other is that motor function recovery can be achieved through motor relearning programme. Based on the analysis of the human upper limb, the design of the upper limb rehabilitation robot with an exoskeleton structure and three degrees of freedom (DOFs) that resembles the human upper limb was completed. According to the medical theory, robot-in-charge and patient-in-charge training models were developed for exercise therapy.
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