Abstract
At present, there are seventy million stroke patients in China and annual death toll of stroke is 1 million 650 thousand people. The survivors about 75% become disabled persons and lose the ability to move. To address this issue, a kind of rehabilitation exoskeleton robot called YANARM is proposed which for training of shoulder complex. This paper, a kind of method for optimizing the angle parameters of series dynamic axes under given workspace conditions is presented. The forward and inverse kinematics solutions of glenohumeral mechanism are solved based on the exponential product formula (POE) and the Paden-Kahan sub-problem. The range of joint rotation angle can be inversely solved according to the end of the arm position at the borderline of the workspace. A curve between the angle and the CP which equal mean variance of joint rotation range plus sum of all joint rotation ranges is solved. The mechanism angle of glenohumeral joint is optimized by this method.
Highlights
Post-stroke motor dysfunction is a major problem faced by neurologists
To optimize the layout of motor in glenohumeral joint and maximize the power-weight ratio of the robot, it is of great significance to the rehabilitation training of shoulder joint by using smaller motor
Intelli-Arm, an upper limb rehabilitation robot developed by North-western University [5], and a two-arm rehabilitation robot system developed by Pinole from Italy
Summary
Post-stroke motor dysfunction is a major problem faced by neurologists. The rehabilitation of the upper limbs of stroke patients has important clinical significance, and the upper limb rehabilitation robot is an important means to solve this problem [1]. The representative product is the Armeo Power developed by HOCOMA Company [3], which is currently the most widely used upper limb rehabilitation robot in clinical practice. Most of the robots are large to maximize the range of motion of patients ‘upper limbs in the rehabilitation process, which affects the selection of motor power to be larger. To optimize the layout of motor in glenohumeral joint and maximize the power-weight ratio of the robot, it is of great significance to the rehabilitation training of shoulder joint by using smaller motor. Most rehabilitation robots in the world have orthogonal motor axes in shoulder joint. A few of robots have considered axis angle of glenohumeral joint motor in design [6]. In view of the spherical workspace of 3R series spherical mechanism, this paper presents a method to optimize the angle parameters of series dynamic axes under given workspace conditions
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
