Mechanism Design And Control Of Upper Limb Rehabilitation Mechanical Arm

The effect of robot-aided rehabilitation therapy on the recovery of motor function in patients with post-stroke disability has been confirmed.While there is a wide of application of rehabilitation robot,how to play upper limb rehabilitation robots full role is still the important content at this stage.And the rehabilitation robot plays an important role in the robot assisted rehabilitation therapy,and its function and performance have important influence on the research progress.In recent years,the research on combination of robot-aided and other therapies,the improvement of the structure and function of rehabilitation robot is required.Upper limb rehabilitation mechanical arm is the important part of upper limb rehabilitation robots,it is the part directly interact with patient.A new type of SCARA mechanical arm is designed,whose structure is more simple,elbow joint is more activity,and more stable.Three robot arms based on different motor are designed;the disturbance problem of UCEM upper limbs rehabilitation robot is analyzed.A new control method of active mode by the principle of intelligent auxiliary device is proposed.Furthermore,the method of assistive mode and resistive mode is proposed.The structure of the manipulator is extended,the vibration end-effort module is designed,and the vibration isolation method between the end and the manipulator is designed and tested.