Design And Analysis Of Human-machine Compatible Wrist Rehabilitation Robot

The wrist joint was an important connecting joint between the forearm and the hand of the human body.When stroke patients used the exoskeleton wrist rehabilitation robot for rehabilitation,it was easy to cause the robot’s motion joints and the human wrist joint axis to be unable to align in real time due to the initial wear of the human-machine,which caused the human-machine interface to produce a binding force/torque that was not related to training,affecting the patient’s rehabilitation effect.Aiming at this problem,this paper used a self-adjusting mechanism design method to design an ergonomically compatible wrist exoskeleton mechanism.The kinematics theory was used to analyze the kinematics and kinematics performance of the mechanism,and based on the mechanism had developed a wrist rehabilitation robot,analyzed the robot’s dynamic performance and built a test platform to experimentally verify the robot’s rehabilitation motion range and human-machine compatibility.The specific content of this topic was as follows:Firstly,aiming at the human-machine incompatibility problem caused by the initial wearing deviation of the human-machine,based on the self-adjusting mechanism design method,a human-machine motion compatible 3RPPR type wrist exoskeleton mechanism and a simplified human wrist joint form a 3-DOF human-machine closed chain mechanism.The mechanism added 3 passive pairs to the human-machine interface to form a joint between the robot and the human forearm.The human-machine closed chain was transformed into a 3-DOF kinematics exact restraint system,thereby reducing the restraining force/torque that had nothing to do with training,and realizing the movement compatibility of the robot and the human forearm.Secondly,established the coordinate system of the human-machine closed-chain mechanism,and derived the human-machine closed-chain constraint equation and the Jacobian matrix of the constraint equation according to the constraint conditions of the human-machine closed chain,and then analyzed the kinematics and kinematics performance of the mechanism to verify the selected mechanism reasonable and provided theoretical support for subsequent design work.Thirdly,based on the 3RPPR type wrist rehabilitation wrist exoskeleton mechanism,a wrist rehabilitation robot was designed.In addition to the traditional robot driving the human wrist joint for internal/external rotation,radial/ulnar deviation and palm/dorsiflexion movements,it also added joint rehabilitation.Exercise mode was more conducive to the recovery of patients.In addition,a mechanical safety protection mechanism,a gravity compensation device and a reset device had been added to improve the safety and comfort of the patient during the rehabilitation exercise.Finally,simplified the robot dynamics model,and performed dynamics and dynamics simulation analysis of the robot to verify the rationality of its force.An experimental platform was built,and the robot’s rehabilitation motion range and motion compatibility were experimentally verified.