Study On The Exoskeleton Mechanism Of Multi DOF Hybrid Upper Limb Rehabilitation

With the continuous development of economy and technology and the improvement of people's living standard,people are faced with an increasing number of diseases,among which cerebral apoplexy is the most obvious.Although medical technology is constantly improving and the survival rate of stroke patients is increasing,the number of patients with upper limb hemiplegia caused by stroke is gradually increasing,and the rehabilitation needs are huge.At present,in upper limb rehabilitation medicine,patients mainly rely on some simple auxiliary equipment for rehabilitation training,and professional physiotherapists are required to provide one-to-one auxiliary training,which wastes a lot of manpower and material resources.Therefore,the combination of robot technology and rehabilitation medicine is a hot topic at home and abroad.In this paper,through consulting a large number of domestic and foreign literature,summarizes the advantages and disadvantages of the existing upper limbs rehabilitation robot,in view of the existing problems and the design thought of upper limb exoskeleton robot can realize the function of the recovery,aims to design a compound upper limb rehabilitation exoskeletons,multi degree of freedom for upper limb hemiplegia rehabilitation training of patients to provide a safe and reliable.First of all,through the study of human upper limbs motion of each joint,combining with the theory of human factors engineering,design a kind of multi-freedom compound upper limb rehabilitation exoskeleton,which is made up of5 R serial mechanism and deformation after 3-RPS parallel mechanism,which canrealize the recovery of the patients with upper limb 7 degrees of freedom training exercise,and the key parts are the statics analysis.Secondly,the kinematics of the upper limb rehabilitation exoskeleton mechanism was analyzed and the d-h transformation coordinate system was established.The inverse kinematics solution of the mechanism is obtained by the partial solution method.Through differential coordinate transformation and Plüker coordinate transformation for the agency's Jacobian matrix.Then,the workspace of the upper limb rehabilitation exoskeleton was solved and analyzed.Monte Carlo method,fixed step Angle method and Simulink simulation method were used to solve the workspace of the rehabilitation mechanism,and the three methods were compared from the perspective of graphic effect,analysis method and applicable situation.Finally,the simulation analysis of the upper limb rehabilitation exoskeleton mechanism was carried out,and the kinematics simulation analysis and dynamics simulation analysis of the rehabilitation mechanism were carried out by ADAMS software,so as to verify the rationality of the design scheme,the accuracy of the kinematics theoretical analysis and the correctness of the work space solved.