| Stroke is an acute cerebrovascular disease with high morbidity,disability and mortality.For the postoperative hemiplegia patients,the most common rehabilitation therapy is exercise therapy.It mainly relies on physical therapists to carry out one-to-one rehabilitation training for patients,with long time and inaccurate movement.There is no direct quantitative analysis on the rehabilitation of patients in this way.And,the number of professional physical therapists is too small to meet the rehabilitation needs of patients.According to the development of the existing upper limb rehabilitation robots at home and abroad,this paper analyzes the characteristics of the existing upper limb rehabilitation robots on the market.According to the structure of the human upper limb and the range of motion of each joint freedom,a new type of upper limb rehabilitation robot is designed based on Creo 3D design software.The robot is a kind of end active and passive upper limb rehabilitation robot,which can realize lying or sitting rehabilitation to meet the training needs of hemiplegic patients in different recovery periods,can be applied to active rehabilitation and passive rehabilitation,and can also realize the exchange of left and right arms.In order to reduce the muscle force exerted by patients during active rehabilitation,a pneumatic balance device was designed to balance the weight of rehabilitation arm.The key parts used in the robot structure,such as motor,reducer and cylinder,are calculated and selected.According to the clinical experience,through the kinematic simulation of rehabilitation robot to simulate the basic movement of rehabilitation training,it is verified that the movement space of the mechanism meets the rehabilitation needs of most patients;In this paper,the deformation of the robot arm is analyzed,the length of the arm and the thickness of the rod are optimized,the end weight of the rehabilitation arm is reduced,and the dynamic characteristics are improved. |
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