A novel 5-DOF upper limb rehabilitation robot, which can implement single joint and multi-joint complex motions and provide activities of daily living (ADL) training for hemiplegic patients, was presented. The solutions of the robot’s kinematics equation were set up by the method of D-H according to the 5-DOF rehabilitation robot for upper limb. Based on the software of ADAMS, the mechanism was simulated and analyzed. Thus the movement of robot is determinate in a certain condition of importation. It offered important data for the trajectory planning and the actual intellective control of rehabilitating robot.
Design of a 5-DOF Rehabilitation Robot Mechanism for Upper Limb and its Kinematics Analysis
Applied Mechanics and Materials ; 29-32 ; 293-298
2010-08-13
6 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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