Design And Research On The Shoulder Rehabilitation Training Robot

Shoulder is the most flexible and vulnerable joint of human body. With the growing ofthe number of stroke patients, more and more shoulder hemiplegic patients are in miseryevery day because their lives can’t be provided for themselves, which is not only to bring thefamily life with tremendous inconvenience, but also to bring the heavy burden with ourcountry for the treatment costs. Therefore, it has become a urgent social problem to be solvedhow to help hemiplegic patients recover the normal life and reduce the mental pressure ofpatients and their families.Medical practice has proved that it can achieve the purpose of recovering patient’snervous system function through the rehabilitation training. Traditional cure method is thattherapist do one-on-one treatment to the patients, which is affected largely by subjectivefactors of therapist in the power and speed of training, being adverse to the treatment ofhemiplegic patients, and which can’t satisfy most patients treatment because therapist isscarce. It is a kind of effective treatment method by using the rehabilitation robot. It can notonly provide the long-term, stable and objective rehabilitation training, but also reduce thetraining time and improve the training effect to a great extent.This paper analyzes the physiological structure of human shoulder and hemiplegicpathology firstly. Then, the shoulder rehabilitation training robot is designed according tohuman movement mechanism and ergonomics theory. The robot has a exoskeleton andwearable structure, and can be folded. To make patients more comfort and safety, the robot ischosen pneumatic artificial muscle as the flexible drive. The rationality of the robot structureis proved through the strength analysis to the robot arm. The robot is carried on the simulationanalysis of kinematics and dynamics in ADAMS. The results show that the robot motionsmoothly, small impact and it don’t cause human body shoulder strain.The article introduces a kind biomechanics simulation software of AnyBody in the end.Through the kinematics and dynamics analysis of the model in AnyBody, the results revealthat the related muscle strength is in allowing scope after the robot movement, and the muscleactivation degree can achieve the purpose of the shoulder rehabilitation training.