Design Of An Exoskeleton Rehabilitation Robot Replicating The Synergistic Characteristics Of Upper Extremity Movements

With the advancement of technology and the improvement of living standards, the demand for rehabilitation equipment is increasingly strong in patients with limb dyskinesia, and the study of humanized intelligent rehabilitation equipment has become a hotspot all over the world. In this thesis, an exoskeleton rehabilitation robot able to replicate the synergistic characteristics of human upper extremity movements is developed, which can provide the rehabilitation training for patients with motor dysfunction. The main research work includes:(1) The quantitative analysis of commonly used five kinds of human upper limb functional movements has been carried out using the PCA approach, indicating the synergistic characteristics of the movements and providing the theoretical basis for the design of synergic movement mechanism.(2) The overall design scheme of the kinematic chain and the control system has been proposed, and the 3D model has been constructured using UG. After that, the design rationality of the overall configuration and all parts is verified by means of 3D motion simulation.(3) The finite-element analysis(FEA) has been carried out using SolidWorks Simulation, including the modal analysis of case frame, the statics analysis of case frame and shoulder connector, and then the structure is optimized and improved.(4) The experiments including the active, passive and sEMG training modes have been conducted on the developed upper limb rehabilitation robot, and the acquired data has been analyzed, demonstrating that our rehabilitation robot conforms to the concept of rahabilitation science.