Design And Analysis Of A Wearable Upper Limb Rehabilitation Robot

Modern medical research has revealed that,by artificial interventional training of hemiplegic patients based on the doctrine of neuroplasticity,patients can regain their basic mobility,and the arisal of upper limb rehabilitation robots can solve the inadequate problem of treating practitioner.Based on the rehabilitation demand of hemiplegic patients,this paper designs and implements a body-worn upper limb rehabilitation robot,which can remedy the drawback of inaccessibility of the transportation of the traditional braced rehabilitation robot,improve the suitability of the rehabilitation robot,and lay the groundwork for the family-oriented rehabilitation treatment.First of all,based on the movement regular of human upper limbs,the robot's motion degree of freedom is selected reasonably,finalizing the overall structural design of the rehabilitation robot,the upper limb part of the rehabilitation robot has a total of five degrees of freedom?Next,the kinematic analysis of the robot was undertaken,and the virtual sample of the rehabilitation robot was performed for motion simulation analysis,and after the simulations were concluded,the construction of the rehabilitation robot proto-robotics was implemented.Then,the robot control system was finished.The PCB circuit board design of the control system is accomplished by using Altium Designer,and the selection of the shoulder joint drive motor and gearbox is also accomplished,and in terms of software,the robot master-slave control program is done.In summary,this paper devises a digital glove-based mirror therapy system for hand rehabilitation robots and a posture sensor MPU6050-based mirror therapy system for shoulder and elbow joints of upper limb rehabilitation robots.Mirror therapy permits patients to complete rehabilitation training on autonomy and boosts the productivity of rehabilitation treatment..Finally,the rehabilitation robot was empirically characterized to examine its realtime motion characteristics,and the tracking capabilities of the robot mirror therapy system were verified through master-slave control experiments.In this paper,the body-worn upper limb rehabilitation robot designed is characterized by low cost and high integration,which enables it to fulfill the needs of patients for autonomous rehabilitation therapy within domestic setting.