Design of joint structure for upper limb exoskeleton robot system

摘要

Stroke endangers the health of the elder, sequelae of which bring great harms to patient and rehabilitation training can rebuild injured parts' motor function of brains. These can use multi-functional upper limb rehabilitation robot at a lower cost but in high efficiency. However, today's rehabilitation robots can only do simple move, whose design using a series structure, movement space is not ideal with small stiffness and poor wearability. The paper's purpose is to analyze the design of the articular structure of the exoskeleton robot. First, a summary of the study of upper limb coordination movement in stroke patients were given. Secondly, we discuss the mechanical design of motion-assisted prototypes, exoskeleton and robot movement space based on the human anatomy. Then, a virtual model of the external skeleton robot rehabilitation system is simulated to enhance the effect and interest of the exercise. And the trying to use the EMG signal to control the robot is tested.