Design And Analysis Of Wrist Rehabilitation Robot

The human wrist is a joint that connects the palm and forearm,an essential part of daily activities and movements.Its anatomical structure is complex and requires appropriate rehabilitation training after a stroke for recovery.Based on the analysis of wrist movements,this academic dissertation designs a new two-degree-of-freedom wrist rehabilitation robot driven by ropes and slides and conducts motion simulation,kinematic analysis,and effectiveness analysis of rehabilitation.Firstly,the wrist is analyzed based on anatomy and rehabilitation theory to establish an equivalent two-degree-of-freedom motion model.An experiment based on electromyographic signals is designed to collect angular acceleration signals and surface electromyographic signals to verify the correctness of the motion model and obtain the effective space of rehabilitation exercises through data analysis.Secondly,a two-degree-of-freedom rehabilitation robot driven by ropes and slides is designed based on wrist movement analysis that is driven by servo motors to transfer the motion from the rotating disc to the slide and complete the rehabilitation motion through the execution mechanism driven by the slide.The robot combines the characteristics of high transmission accuracy and large elastic deformation of rope drive to protect patients from secondary injuries in rehabilitation exercises and has a high safety factor.Then,Solidworks is used for motion simulation of the robot,and the rationality of each component is verified through simulation results analysis.Kinematic analysis of the robot is conducted,and the solution of the forward kinematics equation proves that the robot meets the needs of wrist rehabilitation.Based on the results of kinematic analysis,the control system of the robot is designed on the DSPACE Micro Lab Box platform.Finally,a prototype of the wrist rehabilitation robot is built.Using the prototype,experiments are conducted to collect electromyographic signals before,during,and after rehabilitation training,and the peak value changes of electromyographic signals in different periods are analyzed to verify the effectiveness of the robot in rehabilitation training.