Abstract The rehabilitation training efficiency and effect of hemiplegic patients can be improved by using an upper limb rehabilitation robot. Because the upper limb rehabilitation robot contacts with patients directly, it is necessary to consider the safety design of its mechanism and control. In order to improve the safety of mechanism design, this paper has designed a central-driven upper limb rehabilitation robot, which concentrates the driving and sensing elements on the robot’s base, so the volume, weight, and operation noise of the robot mechanism, which contacts with the patient directly, are reduced. In order to improve the safety of the control, the rehabilitation-training trajectory is planned to make the motion smoother, and the angle range and speed of the joint are limited. Finally, the robot prototype has developed, and the correctness of the safety design is verified by experiments.
Design of a Central-Driven Upper Limb Rehabilitation Robot in Respect of Human Safety
Man-Machine-Environment System Engineering ; 2 ; 219-227
Lecture Notes in Electrical Engineering ; 527 , 2
2018-09-25
9 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Rehabilitation Upper Limb Exoskeleton: Human-Robot Simulation Framework
Springer Verlag | 2024
|Control System Design of Upper Limb Rehabilitation Robot
Trans Tech Publications | 2013
|Design of a Novel Robot for Upper Limb Rehabilitation
TIBKAT | 2021
|Musculoskeletal Analysis of Upper Limb Rehabilitation Robot Prototype
Trans Tech Publications | 2016
|