Design and analysis of an upper limb exoskeleton robot for stroke rehabilitation

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2022-07-17 DOI:10.1109/RCAR54675.2022.9872238

Shuang Li, Zhanli Wang, Zaixiang Pang, Zhifeng Duan, Moyao Gao

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引用次数: 1

Abstract

The upper limb exoskeleton has the advantages of high durability, low labor intensity, and repeatability, and has broad application prospects in stroke rehabilitation. Aiming at the incompatibility of the upper limb exoskeleton robotic with the human, an upper limb exoskeleton rehabilitation robot (ULERR) was designed. Firstly, according to the human anatomy, the joint configuration of human upper limbs is analyzed. The ULERR is designed for the rehabilitation training of patients with hemiplegia in the middle and late stages caused by stroke. Secondly, it is established the kinematics and dynamics model of the exoskeleton and completed the analysis of dynamic simulation. Finally, the rehabilitation robot prototype was tested by a 3D dynamic capture system to measure the range of motion (ROM) of the upper limb joints with the rehabilitation robot. Finally, the results of simulation and experimental concluded that joint motion of the robot is stable, the degrees of freedom (DoFs) of robot is conform to human motion, the designed robot is reasonable, and the robot is suitable for rehabilitation training requirements.

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一种用于中风康复的上肢外骨骼机器人的设计与分析

上肢外骨骼具有耐久性高、劳动强度低、重复性好等优点，在脑卒中康复中具有广阔的应用前景。针对上肢外骨骼机器人与人体不兼容的问题，设计了上肢外骨骼康复机器人(ULERR)。首先，根据人体解剖学原理，分析了人体上肢的关节形态。ULERR是为中风引起的中晚期偏瘫患者的康复训练而设计的。其次，建立了外骨骼的运动学和动力学模型，并完成了动力学仿真分析。最后，利用三维动态捕捉系统对康复机器人样机进行测试，测量上肢关节的运动范围(ROM)。最后，仿真和实验结果表明，机器人关节运动稳定，机器人的自由度符合人体运动，设计的机器人合理，机器人适合康复训练的要求。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)

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