Design and research of 7 - DOF upper-limb rehabilitation robot flexible joint

摘要

In traditional rehabilitation robot design, the dynamic system of rigid was used in each joint of rehabilitation robot, which the motor and reducer, etc as a drive unit. The design of joint has a greater impact load in medical application because of its deficiency soft elastic element. This impact load not only makes damage to normal operation of the robot, even may cause secondary damage to patients. In recent years, the rope dive was designed in power systems by some researchers, but the drive system was complex and the control was of difficulty and instability. Therefore, it is necessary to design a kind of flexible joint to overcome the effect on the stability of the impact load on the rehabilitation robot system.