Kinematics Analysis and Simulation of Upper Limb Rehabilitation Robot

2014 ◽  
Vol 701-702 ◽  
pp. 711-714
Author(s):  
De Dong Tang ◽  
Ya Qi Zhang ◽  
Yi Liu
Keyword(s):  
Upper Limb ◽  
Robot Design ◽  
Rehabilitation Robot ◽  
Kinematics Analysis ◽  
Upper Limb Rehabilitation ◽  
Pneumatic Muscle ◽  
Working Space ◽  
Simulation Results ◽  
Limb Rehabilitation ◽  
Muscle Simulation

In order to solve the deficiency of existing rehabilitation robot a novel upper limb rehabilitation robot structure is designed. Kinematics model is established by the method of Denavit-Hartenberg. The robot is driven by pneumatic muscle. Simulation on the robot movement is carried out by the simmechanics of matlab. When the joint is driven, the angle、angular velocity and working space of robot are all obtained. Feasibility of the robot design is confirmed by the simulation results.

Design of a 5-DOF Rehabilitation Robot Mechanism for Upper Limb and its Kinematics Analysis

2010 ◽  
Vol 29-32 ◽  
pp. 293-298 ◽  
Author(s):  
Zhi Lan ◽  
Zhen Liang Li ◽  
Ya Li
Keyword(s):  
Activities Of Daily Living ◽  
Upper Limb ◽  
Trajectory Planning ◽  
Daily Living ◽  
Rehabilitation Robot ◽  
Kinematics Analysis ◽  
Important Data ◽  
Upper Limb Rehabilitation ◽  
Set Up ◽  
Limb Rehabilitation

A novel 5-DOF upper limb rehabilitation robot, which can implement single joint and multi-joint complex motions and provide activities of daily living (ADL) training for hemiplegic patients, was presented. The solutions of the robot’s kinematics equation were set up by the method of D-H according to the 5-DOF rehabilitation robot for upper limb. Based on the software of ADAMS, the mechanism was simulated and analyzed. Thus the movement of robot is determinate in a certain condition of importation. It offered important data for the trajectory planning and the actual intellective control of rehabilitating robot.

Fuzzy Self-Tuning PI Control for the Upper Limb Rehabilitation Robot

2014 ◽  
Vol 556-562 ◽  
pp. 2262-2265
Author(s):  
Yu Ding Cui ◽  
Cai Hua Xiong
Keyword(s):  
Upper Limb ◽  
Time Lag ◽  
Pi Control ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Pneumatic Muscle ◽  
Highly Nonlinear ◽  
Static Performance ◽  
Self Tuning ◽  
Limb Rehabilitation

It is well known that the robot powered by pneumatic muscle actuator (PMA) which with highly nonlinear, time lag and time-varying characteristics is not easy to control. In this paper, we presented a hybrid fuzzy and PI controller for the upper-limb rehabilitation robot which was designed and built in our lab to assist patients post-stroke in the rehabilitation. The experimental results showed that controller can improve dynamic and static performance of the device, then it can control robot effectively to aid patients carrying on the systematized recovery training.

Upper-limb Rehabilitation Robot Based on Motor Imagery EEG

ROBOT ◽  
2011 ◽  
Vol 33 (3) ◽  
pp. 307-313 ◽  
Author(s):  
Baoguo XU ◽  
Si PENG ◽  
Aiguo SONG
Keyword(s):  
Motor Imagery ◽  
Upper Limb ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation

Upper-limb Rehabilitation Robot Motion Control Based on Dynamic Interpolation

ROBOT ◽  
2012 ◽  
Vol 34 (5) ◽  
pp. 539 ◽  
Author(s):  
Lizheng PAN ◽  
Aiguo SONG ◽  
Guozheng XU ◽  
Huijun LI ◽  
Baoguo XU
Keyword(s):  
Motion Control ◽  
Upper Limb ◽  
Robot Motion ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation

Kinematic dexterity analysis of human-robot interaction of an upper limb rehabilitation robot

2020 ◽  
pp. 1-17
Author(s):  
Qing Sun ◽  
Shuai Guo ◽  
Leigang Zhang
Keyword(s):  
Upper Limb ◽  
Constraint Equation ◽  
Human Robot Interaction ◽  
Rehabilitation Robot ◽  
Connecting Rod ◽  
Robot Interaction ◽  
Upper Limb Rehabilitation ◽  
Rehabilitation Training ◽  
Limb Rehabilitation ◽  
Training Trajectory

BACKGROUND: The definition of rehabilitation training trajectory is of great significance during rehabilitation training, and the dexterity of human-robot interaction motion provides a basis for selecting the trajectory of interaction motion. OBJECTIVE: Aimed at the kinematic dexterity of human-robot interaction, a velocity manipulability ellipsoid intersection volume (VMEIV) index is proposed for analysis, and the dexterity distribution cloud map is obtained with the human-robot cooperation space. METHOD: Firstly, the motion constraint equation of human-robot interaction is established, and the Jacobian matrix is obtained based on the speed of connecting rod. Then, the Monte Carlo method and the cell body segmentation method are used to obtain the collaborative space of human-robot interaction, and the VMEIV of human-robot interaction is solved in the cooperation space. Finally, taking the upper limb rehabilitation robot as the research object, the dexterity analysis of human-robot interaction is carried out by using the index of the approximate volume of the VMEIV. RESULTS: The results of the simulation and experiment have a certain consistency, which indicates that the VMEIV index is effective as an index of human-robot interaction kinematic dexterity. CONCLUSIONS: The VMEIV index can measure the kinematic dexterity of human-robot interaction, and provide a reference for the training trajectory selection of rehabilitation robot.

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