An eight-degree-of-freedom upper extremity exoskeleton rehabilitation robot: design, optimization, and validation

Upper extremity exoskeleton rehabilitation robots can be used for the training of patients with upper extremity motor dysfunction. In most cases, the design of such robots focuses on the configuration and the human-machine compatibility. For patients, the use of an exoskeleton rehabilitation robot m...

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Bibliographic Details
Published in:Journal of mechanical science and technology 2022-11, Vol.36 (11), p.5721-5733
Main Authors: Ning, Yuansheng, Wang, Hongbo, Tian, Junjie, Yan, Hao, Tian, Yu, Yang, Congliang, Wei, Jian, Niu, Jianye
Format: Article
Language:English
Subjects:
Control
Degrees of freedom
Design optimization
Dynamical Systems
Elbow (anatomy)
Engineering
Exoskeletons
Human motion
Industrial and Production Engineering
Iterative algorithms
Kinematic equations
Kinematics
Mechanical Engineering
Original Article
Rehabilitation
Rehabilitation robots
Robots
Shoulder
Vibration
Wrist
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Summary:Upper extremity exoskeleton rehabilitation robots can be used for the training of patients with upper extremity motor dysfunction. In most cases, the design of such robots focuses on the configuration and the human-machine compatibility. For patients, the use of an exoskeleton rehabilitation robot mainly aims to improve their movement ability, which depends on the range of movement of the upper extremity joints. This paper proposes an eight-degree-of-freedom (DOF) upper extremity exoskeleton rehabilitation robot to improve the movement range of the patient’s upper extremity joints. The structural parameters of the shoulder joint are optimized and analyzed by the kinematic equations of the mechanism and the cyclic iteration algorithm such that the movement range of the patient joint can be maximized. The movement space of the robot is then simulated. Finally, the movement range of the rehabilitation robot joints and the movement space of the rehabilitation robot were measured. Experimental results show that the upper extremity exoskeleton rehabilitation robot can meet the patient’s shoulder, elbow, and wrist movement range, and the overlap with the human upper extremity movement space is 97.1 % and 95.7 % in the coronal and sagittal planes, respectively.
ISSN:1738-494X
1976-3824
DOI:10.1007/s12206-022-1034-5