Compatible Exoskeleton Robot Design For Rehabilitation Of Whole Upper Limb

Stroke has been recognized as one of the three major threats to human health disease.More than fifty percent patients after stroke suffer from hemiplegia and can’t perform daily activities independently.To restore the basic ability of daily activities,patients need to accept a long time of rehabilitation therapy.However,most of arm exoskeletons currently do not include the rehabilitation of wrist and hand and miss t the optimal rehabilitation timing of whole upper limb.As a result,this subject is aimed at designing a human-robot compatible whole upper-limb rehabilitation robots to complete high-intensity rehabilitation training replacing physiotherapist.Firstly,the whole upper-limb configuration of the rehabilitation exoskeleton is designed.Parallel cable-driven shoulder module,antagonistic torsion-spring-cabledriven elbow module,quadrilateral spring-blade-driven wrist module,and sandwichlike spring-blade-driven hand module are designed respectively.Using the specific design for every joint makes each module to adapt to the human body upper limb joints of a variety of physiological structure,and realises a better joint axis configuration with multiple freedom and optimization of inertia distribution.Secondly,human-robot compatible design and interchangable design of whole upper-limb exoskeleton are completed.This part focuses on the parallelogram compensation structure and lever-like compensation structure for the passive movement of shoulder and elbow respectively.The dislocation problems between the exoskeleton joint and axis of human body joint are solved to avoid the interaction load between patients and the robot,and even secondary damage.The modules of the whole upper limb mechanism are designed with interchangable design,which can effectively reduce the equipment cost and improve the scope of application.Thirdly,the actuation and sensing system of whole upper-limb exoskeleton are studied.The design of a SEA drive source is studied to achieve a compliant drive with variable stiffness.The motion transmission and transformation system is studied.The remote cable-driven system is used to improve the flexibility and portability,and optimize the distribution of inertia.Motor and sensor selection is carried out,and the integrated design of elastic elements and sensors in limited space is studied to create conditions for joint torque measurement feedback.Finally,the design of whole upper-limb exoskeleton is simulated.The movenemtn simulation and finite element analysis of passive and active degrees on all modules are carried out respectively.All simulation results are analyzed or optimized.The simulation results show that each module can achieve the desired movement requirements after the optimization of the designed exoskeleton.