Study on the safety of elbow joint with simple upper limb rehabilitation exoskeleton

Abstract

Due to the great demand for treating physicians for patients with disabilities caused by stroke, in order to reduce the workload of doctors, exoskeleton robots have been effectively applied and promoted in post-illness health care. Because the human rehabilitation movement needs certain accuracy and low error tolerance rate, the rehabilitation exoskeleton robot requires high precision. Since the exoskeleton robot needs to be worn on the human body, there are certain requirements for the size and wearing comfort of the machine, and the functional structure of all aspects of the upper limb exoskeleton rehabilitation robot still needs to be further improved. In the medical rehabilitation exoskeleton, for the elbow exoskeleton of the upper limb, an elbow exoskeleton with binding structure is proposed in this paper. The elastic structure connects the human body with the binding structure, and on this basis, the wearing comfort is improved through the improvement of the structure and the selection of materials. At the same time, the passive joint between the binding structure and the exoskeleton is designed. In case of motion error when the motor is actively driven, the passive joint reduces the harmful force and torque, so as to ensure safety. Finally, the feasibility of this method is demonstrated through simulation and analysis of the movement of exoskeleton machine. It is proved that the design has certain practicability and reference value for practical treatment.