Design and Analysis of Upper Limb Rehabilitation Robots with Fully-actuated Shoulder Joints

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

doi:10.16578/j.issn.1004.2539.2022.10.007

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Design and Analysis of Upper Limb Rehabilitation Robots with Fully-actuated Shoulder Joints

Design· Calculation | 更新时间：2022-11-05

- Design and Analysis of Upper Limb Rehabilitation Robots with Fully-actuated Shoulder Joints
- Journal of Mechanical Transmission Vol. 46, Issue 10, Pages: 42-48(2022)
- 作者机构：
  
  1.长春工业大学机电工程学院，吉林长春 130012
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.10.007
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王占礼,段志峰,李爽等.肩关节全驱动上肢康复机器人的设计与分析[J].机械传动,2022,46(10):42-48.

Wang Zhanli,Duan Zhifeng,Li Shuang,et al.Design and Analysis of Upper Limb Rehabilitation Robots with Fully-actuated Shoulder Joints[J].Journal of Mechanical Transmission,2022,46(10):42-48.
王占礼,段志峰,李爽等.肩关节全驱动上肢康复机器人的设计与分析[J].机械传动,2022,46(10):42-48. DOI： 10.16578/j.issn.1004.2539.2022.10.007.

Wang Zhanli,Duan Zhifeng,Li Shuang,et al.Design and Analysis of Upper Limb Rehabilitation Robots with Fully-actuated Shoulder Joints[J].Journal of Mechanical Transmission,2022,46(10):42-48. DOI： 10.16578/j.issn.1004.2539.2022.10.007.

摘要

针对由脑卒中造成上肢运动功能障碍的偏瘫患者康复训练的问题，设计了一种肩关节全驱动式5自由度上肢外骨骼康复机器人。基于人机工程学与康复医学原理，确定上肢自由度和各关节的运动范围，并设计了上肢康复机器人结构；建立上肢康复机器人的运动学和动力学模型，推导了运动学和动力学方程；对所设计的上肢康复机器人进行仿真分析和工作空间分析，并对比分析了肩关节内收/外展两种运动形式。结果表明，设计的康复机器人关节运动平稳，转矩波动较小，对手臂无过大冲击，进行肩关节内收/外展的运动时间减小。验证了上肢康复机器人设计的合理性和康复过程的便捷性。

Abstract

Aiming at the problem of rehabilitation training for hemiplegic patients with upper limb motor dysfunction caused by stroke, a fully-actuated five degrees of freedom upper limb exoskeleton rehabilitation robot for shoulder joint is designed. Firstly, based on the principles of ergonomics and rehabilitation medicine, the degree of freedom of the upper limbs and the range of motion of each joint are determined, and the structure of the upper limb rehabilitation robot is designed. Secondly, the kinematics model of the upper limb rehabilitation robot is established and the kinematics equation is derived. Finally, the kinematics simulation analysis and work space analysis of the designed upper limb rehabilitation robot are carried out, and the two motion forms of shoulder joint adduction/abduction are compared and analyzed. The simulation results show that the joint movement is stable, the torque fluctuation is small, the robot has no excessive impact on the arm, the time for the robot to perform shoulder joint adduction/abduction movement is reduced, the rationality of the design of the upper limb rehabilitation robot and the convenience of the rehabilitation process are verified.

关键词

上肢外骨骼康复机器人肩关节结构设计仿真

Keywords

Upper limb exoskeletonRehabilitation robotShoulder jointStructural designSimulation

references

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