Cable-driven Wearable Upper Limb Rehabilitation Robot

摘要

The usage of rehabilitation training robot is an effective way for postoperative stroke rehabilitation. The existing robots for upper limbs rehabilitation training are mostly designed with rigid links, which are large in size, high in cost and not easy to be aligned with human joints. This paper has developed a cable driven wearable 3-DOF (degree of freedom) upper limbs rehabilitation robot based on 3D printing structure, which has the characteristics of lightweight, personalization and low cost. For this robot, the kinematics modeling analysis is carried out, the position control method is designed, and the motion characteristics of the set trajectory are verified by dummy arm.