Kinematic analysis and simulation of human upper limb rehabilitation training mechanism

Abstract

A rehabilitation training mechanism of human upper limb is proposed, it consists of the 3-RRS parallel mechanism and the crank-rocker mechanism. First, their degrees of freedom are analyzed. Then, their kinematics are analyzed by analytical method. Finally, the 3-RRS parallel mechanism and the crank-rocker mechanism are simulated with the software UG and SolidWorks respectively, the results of simulation show that the movement path of the handle on the moving platform of the 3-RRS parallel mechanism coincides with the trajectory of the human arm, it can be used for the rehabilitation training of the human shoulder joint. For the crank-rocker mechanism, the center angles of movement path of the rocker and the handle on the connecting-rod are within the range of motion angles of human elbow joint and wrist joint, it can be used for the rehabilitation training of the elbow and wrist joints. They will all produce soft impulses at the beginning and end points, and the soft impulses will increase as the rotating speed of the driving links increases, so their driving links must rotate at a lower speed.