System Design Of Exoskeleton Upper Limb Movement Rehabilitation Robot

Stroke is caused by acute cerebrovascular disease or the failure of brain circulation.It is a common clinical disease,which will lead to local or comprehensive functional defect of brain.The incidence rate and mortality rate of stroke are extremely high each year.Survivors have different degrees of sequelae and have a great impact on their lives.In order to solve these problems,the more common rehabilitation method is sports rehabilitation therapy,but at present,there are too many patients and few professional rehabilitation practitioners.This kind of repetitive one-to-one training has low efficiency,high cost and is not suitable for operation at home.Only relying on the rehabilitation practitioners cannot meet the rehabilitation requirements of the patients,and the rehabilitation of the patients cannot be guaranteed.As a kind of mechanical system,robot has been widely used in many industries.Researchers applied robot technology to rehabilitation field,designed and developed rehabilitation robots to replace rehabilitation practitioners,and a large number of scientific research institutions invested in research and achieved certain research results.This paper analyzes the structure and working principle of the existing upper limb rehabilitation robot.In view of some defects of the current rehabilitation robot,such as complex structure,only part of the rehabilitation movement can be realized,poor comfort,unable to achieve a large-scale rehabilitation movement and so on,this paper designs a new upper limb rehabilitation robot,which can Drive the upper limbs of patients to complete rehabilitation exercise.In this paper,based on Creo,a three-dimensional software,the structure of the upper limb rehabilitation robot is designed.The robot can realize both upper limb movement rehabilitation and nerve rehabilitation for patients.The robot rehabilitation arm device is composed of simple arm and complex arm.According to the different symptoms of patients,different arm can be replaced for corresponding rehabilitation treatment.The patient’s seat adopts a sliding structure,which is locked after moving left and right along the guide rail to meet the rehabilitation treatment of the patient’s left and right arms.Secondly,the key parts and motors of the designed rehabilitation robot are selected and calculated,and checked in theory to meet the design requirements.Finally,the movement simulation of the upper limb rehabilitation robot is carried out to verify whether there is interference between the mechanisms within the preset range of motion,to verify the rationality of the structure,so that it can meet the requirements of rehabilitation movement to the maximum extent.We have processed and assembled a set of upper limb rehabilitation robot prototype,debugged the motion function and evaluated the characteristics of the prototype and system,preliminarily completed the requirements of the robot’s motion requirements and rehabilitation training mode,and laid a solid foundation for the future optimization design of the robot structure and the continuous improvement of the system structure.