Design And Analysis Of A Novel Wearable Flexible Upper-limb Rehabilitation Training Mechanism

In recent years,intelligent,lightweight,and flexible exoskeleton robots have become a new research hotspot,and its development involves the fields of electromechanical engineering,automatic control,life sciences,robotics,and other disciplines,and has been widely used in sports rehabilitation and other aspects.Due to the need for wearability and good human-computer interaction performance,the rehabilitation exoskeleton needs to be developed.It should be compliant,multi-degree of freedom,light,and conform to the human upper limb joint movement characteristics.It can be used to promote stroke,hemiplegia,or other factors Efficient rehabilitation for patients with limb movement disorders.Based on this,this paper proposes a wearable flexible upper limb rehabilitation hybrid mechanism to achieve the replacement of traditional artificial rehabilitation and improve the effectiveness of upper limb rehabilitation training.This article studies the principles of human upper limb movement biology,analyzes the freedom of upper limb movement and its range of motion,and proposes a variety of rehabilitation exoskeleton configuration schemes based on the upper limb size of adults.Taking into account factors such as human comfort,degree of freedom configuration,and structural rationality,a specific institutional plan is selected and further research is carried out.Firstly,the kinematics analysis is carried out around the mechanism,the forward and reverse solutions of the mechanism are calculated,the velocity Jacobian matrix is obtained,and the singularity of the mechanism,the reachable working space,and the range of posture space with the fixed position is analyzed.On this basis,the static stiffness matrix and dexterity analytical expressions of the mechanism are obtained,and with this as the optimization index,the size of the mechanism is optimized.Secondly,the analysis of the robot's motion statics is completed.Considering the human upper limb load and physical rehabilitation trajectory characteristics,combined with the speed Jacobian matrix,a sports static model under a specific rehabilitation exercise is established;and a comparative verification is carried out in the simulation environment,thus proving the correctness of this model.Next,a static analysis is performed on the part of the flexible wearable gloves composed of contracted artificial muscles and flexed artificial muscles.It provides a theoretical basis for the drive selection and control scheme and parameter selection of the prototype platform.Next,according to the seven-level evaluation of hemiplegic patients and the comprehensive evaluation of Brunnstrom's motor function,the patient's disease level is divided,and the patient's rehabilitation training is simulated and verified from a total of nine levels.Corresponding theoretical and numerical calculation results.Finally,from an engineering perspective,the structural layout of the rehabilitation exoskeleton is refined,and a control method for multiple rehabilitation goals is proposed according to different rehabilitation purposes.