Study on the center-driven multiple degrees of freedom upper limb rehabilitation training robot.
10.7507/1001-5515.201703052
- Author:
Xiaohai HUANG
1
,
2
,
3
;
Hongliu YU
1
,
2
,
4
;
Jinchao WANG
1
,
2
,
3
;
Qi DONG
1
,
2
,
3
;
Linling ZHANG
1
,
2
,
3
;
Qiaoling MENG
1
,
2
,
3
;
Sujiao LI
1
,
2
,
3
;
Duojin WANG
1
,
2
,
3
Author Information
1. Institute of Biomechanics and Rehabilitation Engineering, School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, P.R.China
2. Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093, P.R.China
3. Key Laboratory of Nerve Function Information and Rehabilitation Engineering, Shanghai 200093, P.R.China.
4. Key Laboratory of Nerve Function Information and Rehabilitation Engineering, Shanghai 200093, P.R.China.yhl98@hotmail.com.
- Publication Type:Journal Article
- Keywords:
cable transmission;
center-driven;
robot;
upper limb rehabilitation
- From:
Journal of Biomedical Engineering
2018;35(3):452-459
- CountryChina
- Language:Chinese
-
Abstract:
With the aging of the society, the number of stroke patients has been increasing year by year. Compared with the traditional rehabilitation therapy, the application of upper limb rehabilitation robot has higher efficiency and better rehabilitation effect, and has become an important development direction in the field of rehabilitation. In view of the current development status and the deficiency of upper limb rehabilitation robot system, combined with the development trend of all kinds of products of the upper limb rehabilitation robot, this paper designed a center-driven upper limb rehabilitation training robot for cable transmission which can help the patients complete 6 degrees of freedom (3 are driven, 3 are underactuated) training. Combined the structure of robot with more joints rehabilitation training, the paper choosed a cubic polynomial trajectory planning method in the joint space planning to design two trajectories of eating and lifting arm. According to the trajectory equation, the movement trajectory of each joint of the robot was drawn in MATLAB. It laid a foundation for scientific and effective rehabilitation training. Finally, the experimental prototype is built, and the mechanical structure and design trajectories are verified.
