Mechanical devices such as robots are widely adopted for limb rehabilitation. Due to the variety of human body parameters, the rehabilitation motion for different patients usually has its individual pattern, thus we adopt clustering-based machine learning technique to find a limited number of motion patterns for upper-limb rehabilitation, so that they could represent the large amount of those from people who have various body parameters. Using the regression motion of the clustering result as the target, in this paper we seek to apply kinematic-mapping-based motion synthesis framework to design a one-DOF mechanism such that it could lead the patients' upper limb through the target motion. Also, considering rehab training generally involves a large amount of repetition in daily basis, this paper has developed a rehab system with Unity3D based on Virtual Reality (VR). The proposed device and system could provide an immersive experience to the users, as well as the rehab motion data to the administrative staff for evaluation of users' status. The construction of the integrated system as well as the experimental trial of the prototype are presented in the end of this paper.

Mechanical devices such as robots are widely adopted for limb rehabilitation. Due to the variety of human body parameters, the rehabilitation motion for different patients usually has its individual pattern, thus we adopt clustering-based machine learning technique to find a limited number of motion patterns for upper-limb rehabilitation, so that they could represent the large amount of those from people who have various body parameters. Using the regression motion of the clustering result as the task motion, in this paper we seek to apply kinematic-mapping-based motion synthesis framework to design a one-DOF mechanism such that it could lead the patients’ upper limb through the task motion. Also,considering rehab training generally involves a large amount of repetition in daily basis, this paper has developed an immersive rehab system with Unity3D based on Virtual Reality (VR). A patient user interface as well as an administrator user interface are presented, and a two-mode rehabilitation strategy is proposed. The construction of the integrated system and a prototype of the upper limb rehab device are also shown in the end of this paper.

In order to help hand dysfunction people to rehabilitate hand muscles and train hand muscles, we designed and developed a wearable rehabilitation equipment glove. First, we collected data from a sample hand and fitted its motion trajectory. Through analysis and comparison, we decided to use the linkage mechanism as the actuator and pneumatic drive as the driving method. In order to ensure flexibility, accuracy and stability, we designed and optimized the number and position of the connecting rods. Finally, we will get a set of rods that can simulate the movement of the fingers, and use springs to increase the flexibility of the mechanism. We studied the rigidity of the mechanism and determined the material of the device. After obtaining the model, we will perform a static analysis on the final state of the finger to ensure the safety of the device.

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