Development of Prismatic robotic arms for rehabilitation by using Electromygram(EMG)

摘要

The design and fabrication of a bio-mechatronics robust novel robotic arms, and several parameters are discussed in this paper. Specially designed mechanism was identified and being under modification compared to the previously designed robotic arms. This paper shows the design of bio-mechatronic of the robotic arms from the shoulder to the endpoint of wrist. The robotic arms bio-mechatronic has 2 Degrees of Freedom (DOFs) direction of forward and inverse kinematic. This kinematic axis joint provided shoulder dynamic rotation, forth motion, elbow kinematics and wrist movement (internal and external). The Electromyogram (EMG) also apply in this experiment to measure Upper arms muscle activity during flexion and extension. The idea can provide advantages to researcher and physiotherapy to perform exercise during rehabilitation.