Design And Research Of Exoskeleton Robot Mechanisms For Shoulder Rehabilitation

In the etiology that threatens human health,the paralysis of upper limbs caused by stroke has become the leading cause.More and more patients with hemiplegia have been raising a heavy burden to their families as well as the economy of society.Therefore,it becomes an urgent need to help patients with hemiplegia return to normal life and reduce the pressure on both patients and their families.According to the research status of upper limb rehabilitation robot at home and abroad,a shoulder joint exoskeleton rehabilitation robot is designed in this article combined with the theory of rehabilitation and physiology.Firstly,after analyzing the theory of upper limb hemiplegia rehabilitation and the physiological structure of the upper limbs,an upper extremity exoskeleton robot was designed intergraded with transmission and control scheme.It is an exoskeleton robot that can achieve the movement for shoulder joint flexion,extension,adduction and rotation and internal rotation and external rotation.Meanwhile,a gravity compensation system is invented to alleviate the loads of motors.Secondly,the kinematics model of the upper exoskeleton mechanism is established,and the forward and inverse kinematics solutions are obtained according to the D-H method.The feasibility of the kinematic model is verified by the simulation analysis of ADAMS software and UG software.Then the dynamic equations of the upper limb rehabilitation robot are established by the Lagrange method,and the dynamics simulation analysis is performed through the ADAMS to lay a foundation for the robot control.Finally,the dissertation develops prototype of rehabilitation robot,and introduces the system from the aspects of mechanical body and control system.The experimental study of the joint angle error and the experimental study of single joint and multi-joint rehabilitation training with healthy people were performed.The movement parameters of the rehabilitation training process were recorded.The results showed that the system worked well and the robot joints had good follow-up angles.Using healthy individuals to perform single-joint and multi-joint motion studies,the angle parameters of each joint of the robot are recorded.The experimental results verify the correctness of the designed rehabilitation robot system.