Research On The Design Method Of Joint Self-calibration Upper Limb Exoskeleton Rehabilitation Robot

In recent years,with the aggravation of the aging population and the increasing number of patients with upper limb dysfunction caused by cardiovascular and cerebrovascular diseases represented by stroke,the demand for rehabilitation training in China has shown an explosive growth.The traditional training model based on rehabilitation physicians has gradually revealed its drawbacks.Meanwhile,the rehabilitation robot-based rehabilitation training means,with its standardization,objectivity and stability,has become an effective method to solve this problem.However,how to establish the design principles and methods of exoskeleton rehabilitation robots that match the natural motion characteristics and range of motion of human beings has been a challenging issue internationally.Around this challenge,this paper carries out relevant research work and proposes a design method for an exoskeleton rehabilitation robot with joint self-alignment capability,with the following main elements.1)Based on the human anatomical mechanism,the kinematic characteristics of human upper limbs are studied,and the distribution of degrees of freedom and the spatial range of motion of upper limbs are revealed,laying a physiological foundation for the design of upper limb exoskeleton rehabilitation robots.2)Based on the distribution of human upper limb degrees of freedom,a method of upper limb exoskeleton rehabilitation robot degrees of freedom configuration is proposed,a human-machine dual chain system compatible with exoskeleton rehabilitation robot and human upper limb is established,the motion data of human shoulder joint is quantitatively analyzed using principal component analysis,a method of joint axis bias design is proposed,and a mechanism design of joint self-calibration exoskeleton rehabilitation robot is formed method.3)Aiming at the unique characteristics of the shoulder joint bias design of the rehabilitation robot,a positive and negative kinematic analysis method of the joint selfcalibrating exoskeleton rehabilitation robot was established,revealing the motion characteristics of this joint self-calibrating rehabilitation robot and providing a theoretical basis for motion control.4)The development of the principle prototype of the exoskeleton rehabilitation robot was completed under the guidance of the design method,and the correctness of the design method was verified through passive rehabilitation training experiments,active rehabilitation training experiments and shoulder bias comparison experiments.