Kinematics Modeling and Analysis of Central-driven Robot for Upper Limb Rehabilitation after Stroke.
- Author:
Jinhua YI
;
Hongliu YU
;
Ying ZHANG
;
Xin HU
;
Ping SHI
- Publication Type:Journal Article
- MeSH:
Biomechanical Phenomena;
Humans;
Models, Biological;
Robotics;
Stroke Rehabilitation;
Upper Extremity
- From:
Journal of Biomedical Engineering
2015;32(6):1196-1201
- CountryChina
- Language:Chinese
-
Abstract:
The present paper proposed a central-driven structure of upper limb rehabilitation robot in order to reduce the volume of the robotic arm in the structure, and also to reduce the influence of motor noise, radiation and other adverse factors on upper limb dysfunction patient. The forward and inverse kinematics equations have been obtained with using the Denavit-Hartenberg (D-H) parameter method. The motion simulation has been done to obtain the angle-time curve of each joint and the position-time curve of handle under setting rehabilitation path by using Solid Works software. Experimental results showed that the rationality with the central-driven structure design had been verified by the fact that the handle could move under setting rehabilitation path. The effectiveness of kinematics equations had been proved, and the error was less than 3° by comparing the angle-time curves obtained from calculation with those from motion simulation.
