Abstract
When designing rehabilitation robots, there remains the challenge of ensuring the comfort and safety of users, especially for wearable rehabilitation robots that interact with human limbs. In this paper, we present a kineto-static analysis of the 3-RPS parallel wrist rehabilitation robot, taking into account the soft characteristics of the human limb and its kinematic mobility. First, the human upper-limb model was made to estimate the interaction force and moment through inverse kinematic analysis. Second, a static analysis was conducted to obtain the force and moment acting on the human limb, which is directly related to the user’s comfort and safety. Then, the design parameters of the 3-RPS robot were obtained by generic optimization through kineto-static analysis. Finally, the influence of the parasitic motion of the 3-RPS robot and the initial offset between the wrist center and the robot moving platform were discussed. Through the analysis results, we provide effective solutions to ensure the safety and comfort of the user.
Highlights
For post-stroke patients who suffer from loss of upper limb motor ability, it is difficult for them to live independently, especially as the function of the wrist is highly related to performing many basic activities of daily living (ADL)
The present paper is an extended version of the research described in [13]. It addresses the kineto-static analysis of a 3-RPS parallel wrist rehabilitation robot with consideration of the soft characteristics of the human limb
The parasitic motions of the lower-mobility parallel robot are the unwanted motions in the constrained DOF, which is considered to be detrimental to many applications, and its impact cannot be ignored
Summary
For post-stroke patients who suffer from loss of upper limb motor ability, it is difficult for them to live independently, especially as the function of the wrist is highly related to performing many basic activities of daily living (ADL). The present paper is an extended version of the research described in [13] It addresses the kineto-static analysis of a 3-RPS parallel wrist rehabilitation robot with consideration of the soft characteristics of the human limb. By including the human limb into the robot design, the attachment of the forearm is modeled as a complex joint [14] due to its soft and deformable property, which has four degrees of freedom composed of three prismatic joints and one revolute joint (3P1R). The design of rehabilitation robots requires consideration of many aspects, such as performance, low cost, volume, and wearable convenience, this paper focuses on ensuring comfort and safety which, are essential for the patient’s willingness to use the rehabilitation robot. The parasitic motions of the lower-mobility parallel robot are the unwanted motions in the constrained DOF, which is considered to be detrimental to many applications, and its impact cannot be ignored
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