Mechanical Design And Kinematic Simulation Analysis Of Upper-Limb Exoskeleton Robot For Rehabilitation

Loss of motor function in the upper limb of the body is one of the impacts that occur after someone has had a stroke.The effective rehabilitation process can help them to regain their motor function.The rehabilitation by providing the intensive,repetitive,task-specific,and interactive treatment can augment their physical recovery.The exoskeleton robots have been developed to fulfill this task.In developed such an exoskeleton robot,the much difficult part is to determine and design the shoulder joint in human mechanism to be applied in to the mechanism design of the shoulder manipulator.Usually,shoulder joint is described as three degree-of-freedom(DOF),which provides the flexionextension,abduction-adduction,and internal-external rotation.The larger range of motion(ROM)is needed in the new design of exoskeleton to produce the flexibility of therapy movement by adding the scapula elevation-depression and protraction-retraction movements.The objective of this study is to analyze the new structural design of upper limb exoskeleton which includes the movement of scapula elevation-depression and retraction-protraction,with intention to gain a larger ROM in the exoskeleton device.The mechatronic method is proposed in this research as a guide to design the exoskeleton.The anthropometry study is also deliberated to obtain the preliminary data from the human,and thus the design of the exoskeleton captures human body characteristics to avoid the misalignment between exoskeleton and the human body with cause pain or injuries.The anthropometric data are used as the design of human model where the exoskeleton design attached.The kinematic analysis is enumerated to determine area that can be achieved by the end-effector.Thus the range of motion of the exoskeleton robot is obtained and also approves the mechanism design.For the final stage the detailed design is also propose...