The Structural Design Of The Shoulder Girdle Linkage Mechanism And The Rehabilitation Arm Of The Exoskeleton Upper Limb Rehabilitation Robot

Stroke is commonly known as "stroke".Because of the interruption of human blood flowing into the brain,brain cells are damaged and the consequences are more serious.Every year,because of accidents,inappropriate exercise and other reasons,the number of people who lose part of the limb motor function is increasing year by year.In the face of these situations,the more common rehabilitation treatment is exercise therapy.There are fewer professional physiotherapists,which has brought unprecedented pressure to the rehabilitation industry.Rehabilitation training by physiotherapists alone can not meet the rehabilitation needs of patients.The use of rehabilitation robots can save physiotherapists from repeated and laborious work.Therefore,a large number of scientific research institutions have invested in the research and development of upper limb rehabilitation robots,and have achieved certain research results through continuous efforts.Based on the theory of human physiological structure,the characteristics of human upper limbs are analyzed,and the motion relationship between upper limbs and shoulder joints and scapula is studied in depth.A new scapular band linkage mechanism and rehabilitation arm scheme are proposed.The scheme aims to solve some defects of the existing rehabilitation robot for upper limbs on the market,such as complex structure and inability of some functional training.These problems include poor comfort of rehabilitation training,subacromial pain syndrome caused by excessive pulling of scapula.According to the physiological movement of human body,it is suitable for people of different stature.The degree of freedom of mechanism corresponds to the degree of physiological freedom of human body,and the patients feel comfortable.Rehabilitation arm mechanism can carry out targeted rehabilitation training according to daily life practice,cooperate with scapular band linkage mechanism to avoid or alleviate subacromial pain syndrome,and restore the basic physiological activities of patients as far as possible.Based on the 3D modeling software Creo,the structure design of scapular belt linkage mechanism and rehabilitation arm mechanism was completed.Secondly,the key parts and motors of the mechanism are selected and checked theoretically.Finally,the kinematics simulation of the rehabilitation arm is carried out by simulating the basic movements of the elbow and wrist joints of the human arm.The interference between the mechanisms in the given range of anticipated motion is checked,and the torque of the selected motor can meet the required torque of the corresponding joints,and the rationality of the structure design is verified.It can satisfy the rehabilitation training of elbow and wrist joints to the greatest extent.