| An individual's capacity to move the upper extremity is necessary to perform basic activities of daily living,disorders of the upper extremities can significantly reduce the patients' quality of life by limiting the independence of affected subjects.Neuromuscular insults,such as a stroke or a spinal cord injury,affect a substantial portion of people,resulting in a constant increase of the patient population needing physical rehabilitation of the upper extremity.However,the existing shortage of therapists and caregivers is expected to increase and become serious problem in the near future.Fortunately,robotic devices for upper limb rehabilitation have the potential to address this problem as noted by the results of recent research studies.In this paper,some researches on the design method of upper limb exoskeleton rehabilitation robot are carried out.It reads as follows:(1)Based on the analysis of the anatomical structure and motion characteristics of human upper extremity,the kinematic model is formulated and equivalently simplified,and the range of joint motion as well as structure parameters of the exoskeleton robot are determined.(2)A novel exoskeleton rehabilitation robot able to power the movements of human upper limbs without discomfort to the user is presented,taking into consideration the movements of the shoulder complex,the deviation between the axis of human and robot elbow joint,the versatility of the left and right limbs as well as the connection between the exoskeleton robot and the human body.(3)The kinematics analysis of the presented exoskeleton robot is carried out.Given the redundant nature of the robot,there are infinite solutions for the inverse kinematics.A new criterion is formed to resolve the redundancy based on the experimental results.(4)The experiment platform of the exoskeleton robot is developed to test the performance of the proposed redundancy resolution criterion.And the criterion is optimized according to the experimental results. |
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