Mechanism Design and Kinematics Positive Solution of the Exoskeleton Upper Limb Rehabilitation Robot with 6-DOF

According to the clinical rehabilitation medicine theory and the characteristics of human upper limb rehabilitation robot, a dexterous rehabilitation mechanical arm with 6-DOF is designed to satisfy the need of rehabilitation in this paper. By analyzing the six cases of the 3-DOF serial distribution and the kinematic relation of the shoulder joint, the spherical joint motion of the shoulder joint is achieved by using the circular arc guide rail. Two serial mechanism approaches of the shoulder joint using PRR and RRP type are provided. After comparing these designs, the PRR type is selected, the kinematics positive solution of this type is given.

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Configuration Design of an Upper Limb Rehabilitation Robot with a Generalized Shoulder Joint

Applied Sciences ◽

10.3390/app11052080 ◽

2021 ◽

Vol 11 (5) ◽

pp. 2080

Author(s):

Hao Yan ◽

Hongbo Wang ◽

Peng Chen ◽

Jianye Niu ◽

Yuansheng Ning ◽

...

Keyword(s):

Upper Limb ◽

Shoulder Joint ◽

Configuration Model ◽

Configuration Design ◽

Rehabilitation Robot ◽

Upper Limb Rehabilitation ◽

Rehabilitation Robots ◽

Closed Chain ◽

Limb Rehabilitation ◽

Human Upper Limb

For stroke patients with upper limb motor dysfunction, rehabilitation training with the help of rehabilitation robots is a social development trend. Existing upper limb rehabilitation robots have difficulty fully fitting the complex motion of the human shoulder joint and have poor human–robot compatibility. In this paper, based on the anatomical structure of the human upper limb, an equivalent mechanism model of the human upper limb is established. The configuration synthesis of the upper limb rehabilitation mechanism was carried out, a variety of shoulder joint man–machine closed-chain Θs and shoulder elbow human–machine closed-chain Θse configuration combinations were synthesized, and the configuration model with compatibility and reduced moment conduction attenuation was selected from them. Two configurations, 2Pa1P3Ra and 5Ra1P, are proposed for the generalized shoulder joint mechanism of the robot. The closed-chain kinematic models of the two configurations are established, and the velocity Jacobian matrix is obtained. Motion performance analysis, condition reciprocal analysis and operability ellipsoid analysis of different configuration design schemes were carried out in different operation planes. The results show that in the normal upper limb posture of the human body, the 5Ra1P configuration of the shoulder joint has better kinematic performance. Finally, on this basis, an upper limb rehabilitation robot prototype with good human–computer compatibility is developed, and its moving space was verified.

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1A2-N09 Compilation of Joint Motion Database using Upper Limb Rehabilitation Robot(Rehabilitation Robotics and Mechatronics(2))

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ◽

10.1299/jsmermd.2012._1a2-n09_1 ◽

2012 ◽

Vol 2012 (0) ◽

pp. _1A2-N09_1-_1A2-N09_2

Author(s):

Toshiaki TSUJI ◽

Tomonori YOKOO

Keyword(s):

Upper Limb ◽

Rehabilitation Robotics ◽

Rehabilitation Robot ◽

Joint Motion ◽

Upper Limb Rehabilitation ◽

Limb Rehabilitation ◽

Robot Rehabilitation

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Musculoskeletal Analysis of Upper Limb Rehabilitation Robot Prototype

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.833.196 ◽

2016 ◽

Vol 833 ◽

pp. 196-201 ◽

Cited By ~ 1

Author(s):

Shahrol Mohamaddan ◽

Annisa Jamali ◽

Noor Aliah Abd Majid ◽

Mohamad Syazwan Zafwan Mohamad Suffian

Keyword(s):

Upper Limb ◽

Vertical Movement ◽

Human Model ◽

Rehabilitation Robot ◽

Upper Limb Rehabilitation ◽

The Third ◽

Hardware Development ◽

Limb Rehabilitation ◽

Human Upper Limb ◽

Rehabilitation Exercise

Stroke is the third largest cause of death in Malaysia. Different approaches including hardware development and simulation were conducted to support the conventional rehabilitation courses. New upper limb rehabilitation robot prototype was developed for this research. The prototype consists of horizontal and vertical movement exercise. The prototype was modeled and simulated using ergonomics optimization software known as AnyBody. This paper presents the analysis of human upper limb muscles during rehabilitation exercise using virtual human model. The result shows that eleven muscle areas were affected during the rehabilitation exercise using new prototype.

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Kinematical Analysis and Simulation of Upper Limb Rehabilitation Robot

Key Engineering Materials ◽

10.4028/www.scientific.net/kem.474-476.1315 ◽

2011 ◽

Vol 474-476 ◽

pp. 1315-1320

Author(s):

Xiang Li Cheng ◽

Yi Qi Zhou ◽

Cui Peng Zuo ◽

Xiao Hua Fan

Keyword(s):

Upper Limb ◽

Inverse Kinematics ◽

Degrees Of Freedom ◽

Mechanical Design ◽

Rehabilitation Medicine ◽

Algebraic Solution ◽

Rehabilitation Robot ◽

Upper Limb Rehabilitation ◽

Kinematical Analysis ◽

Limb Rehabilitation

To assist stroke patients with rehabilitation training, an upper limb rehabilitation robot with an exoskeleton structure and three degrees of freedom (DOF) was developed in this paper. Under the guidance of the theory of rehabilitation medicine, the mechanical design of the robot was completed. Then, the kinematics equations were established by means of homogeneous transformation, including the forward kinematics and the inverse kinematics. The kinematical analysis was carried out and the algebraic solution of inverse kinematics was derived, which provided a theoretical basis for realizing the intelligent control. To validate the performance, the kinematical simulation was conducted, and the simulation results showed that the design of the exoskeleton robot was feasible.

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The Study on Motor-Function Evaluation of Upper-Limb Rehabilitation Robot Based on AHP

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.121-126.2382 ◽

2011 ◽

Vol 121-126 ◽

pp. 2382-2386

Author(s):

Xing Li ◽

Jian Hui Wang ◽

Yan Zheng ◽

Shu Sheng Gu

Keyword(s):

Motor Function ◽

Upper Limb ◽

Evaluation Method ◽

Evaluation Model ◽

Rehabilitation Medicine ◽

Function Evaluation ◽

Rehabilitation Robot ◽

Upper Limb Rehabilitation ◽

Organic Combination ◽

Limb Rehabilitation

To solve the problem of real-time, quantification monitor on the restoration of motor function in hemiplegia after stroke, this paper proposed motor-function evaluation content for 5-DOF upper-limb rehabilitation robot based on traditional motor-function evaluation method, and then it constituted judgment matrix and calculated weights by Analytical Hierarchy Process, finally, established a synthetical evaluation model of motor function for upper-limb rehabilitation robot. This paper is the organic combination of operational research, rehabilitation medicine and robotics. Compare with traditional motor-function evaluation method, the new evaluation method is so simply and flexible that it greatly increases the reliability, validity and feasibility of evaluation, which has changed traditional evaluation methods into mathematical process. It is the new orientation in motor-function evaluation.

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DEVELOPMENT AND ANALYSIS OF A BILATERAL END-EFFECTER UPPER LIMB REHABILITATION ROBOT

Journal of Mechanics in Medicine and Biology ◽

10.1142/s0219519421500329 ◽

2021 ◽

pp. 2150032

Author(s):

LEIGANG ZHANG ◽

SHUAI GUO ◽

QING SUN

Keyword(s):

Upper Limb ◽

Rehabilitation Robot ◽

Healthy Human Subject ◽

Unaffected Side ◽

Healthy Human ◽

Upper Limb Rehabilitation ◽

Rehabilitation Training ◽

Limb Rehabilitation ◽

Human Upper Limb ◽

Training Protocol

Studies have shown that rehabilitation training with the unaffected side guiding affected side is more consistent with the natural movement pattern of human upper limb compared with unilateral rehabilitation training, which is conducive to improve rehabilitation effect of the affected limb motor function. In this paper, a bilateral end-effector upper limb rehabilitation robot (BEULRR) based on two modern commercial manipulators is developed first, then the kinematics, reachability, and dexterity analysis of BEULRR are performed, respectively. Finally, a bilateral symmetric training protocol with the unaffected side guiding the affected side is proposed and evaluated through healthy human subject experiment testing based on BEULRR. The simulation results show that the developed BEULRR could perform spatial rehabilitation training and its rehabilitation training workspace can fully cover the physiological workspace of human upper limb. The preliminary experiment results from the healthy human subject show that the BEULRR system could provide reliable bilateral symmetric training protocol. These simulation and experiment results demonstrated that the developed BEULRR system could be used in bilateral rehabilitation training application, and also show that the BEULRR system has the potential to be applied to clinical rehabilitation training in the further step. In the close future, the proposed BEULRR and bilateral symmetric training protocol are planned to be applied in elderly volunteers and patients with upper limb motor dysfunction for further evaluating.

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