The Design And Analysis Of The 6 Dofs Exoskeleton Upper Limb Rehabilitaitonrobot

Recently, because the number of patients with the upper limb hemiplegia caused by cerebrovascular diseases such as stroke has been increasing rapidly, traditional methods can’t meet the rehabilitation demand of patients. With the vigorous development of robot technology, scientists hope to combine the robot technology with rehabilitation medicine to use the robot to replace the physical therapist to assist hemiplegia patients implement rehabilitation training, so more and more research organizations began to devote themselves to the study of rehabilitation robot. Exoskeleton rehabilitation robot is equivalent to afford an additional layer external skeleton on the patients’ limbs to support and assist hemiplegic limbs for high strength rehabilitation training. This paper analyzes the formation cause of the limb hemiplegia from the medical point, and proposes a exoskeleton upper limb rehabilitation robot system on the basis of summarizing the research status at home and abroad, and puts forward two rehabilitation systems aiming at different periods of patients, including bilateral type system and independent type rehabilitation system respectively. The system consist of six degrees of freedom tactile sensor(the Phantom Premium), exoskeletons upper limb rehabilitation robots, virtual reality system, motor control unit, brain electrical signal system, electromyographic signal system and some related sensors. The system provides a science rehabilitation policy that is from "test- training- evaluation", namely the control signal comes from the patients and system transmit this signal to robot to assisted patient training, and it evaluates the patient’s recovery by the patient’s biological signal, lastly according the patients’ condition to develop the next phase of rehabilitation training.This study introduces mainly the research and design of the structure of the exoskeleton upper limb rehabilitation robot in this system, including the upper limb rehabilitation robots and finger rehabilitation robots, which can achieve six degrees of freedom movement in total. Firstly, from the anatomy, it introduces the structure of the human upper limb and finger, and analyzes the characteristic of the bone and movement form, and summarizes the ergonomics design requirements of the two robots and settles the medicine foundation for the following robot structer design. Secondly, from on the aspects of the ergonomic features, the choice of materials, driving mode and transmission mode selection of the robot, it puts forward the overall design of the robot. Thirdly, it establishes respectively the kinematic model of the upper limb and finger rehabilitation robots, by using the dynamics simulation software ADMAS verifies the rationality and stability of the robot structure. Finally, using the finite element simulation software ANSYS analyzes the force influence that the robot gives the patients’ limbs in the process of rehabilitation training, and the scientific methods of rehabilitation was established based on the simulation results to protect the secondary damage caused by robot movement and improve the security of rehabilitation training.Based on the above study and analysis, we have been analyzed and assembled the prototypes of the exoskeleton upper limb and finger rehabilitation robots, and probe into the prototype and the system debugging, and complete preliminarily the requirements of robot movement and two rehabilitation training system. It lays a solid foundation for the optimization design of the robot and system structure in the future.