In order to solve the deficiency of existing rehabilitation robot a novel upper limb rehabilitation robot structure is designed. Kinematics model is established by the method of Denavit-Hartenberg. The robot is driven by pneumatic muscle. Simulation on the robot movement is carried out by the simmechanics of matlab. When the joint is driven, the angle、angular velocity and working space of robot are all obtained. Feasibility of the robot design is confirmed by the simulation results.
Kinematics Analysis and Simulation of Upper Limb Rehabilitation Robot
Applied Mechanics and Materials ; 701-702 ; 711-714
2014-12-05
4 pages
Article (Journal)
Electronic Resource
English
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