Design and Analysis of a Wearable Upper Limb Rehabilitation Robot with Characteristics of Tension Mechanism

Abstract

Nowadays, patients with mild and moderate upper limb paralysis caused by cerebral apoplexy are uncomfortable with autonomous rehabilitation. In this paper, according to the “rope + toothed belt” generalized rope drive design scheme, we design a utility model for a wearable upper limb rehabilitation robot with a tension mechanism. Owing to study of the human upper extremity anatomy, movement mechanisms, and the ranges of motion, it can determine the range of motion angles of the human arm joints, and design the shoulder joint, elbow joint, and wrist joint separately under the principle of ensuring the minimum driving torque. Then, the kinematics, workspace and dynamics analysis of each structure are performed. Finally, the control system of the rehabilitation robot is designed. The experimental results show that the structure is convenient to wear on the human body, and the robot’s freedom of movement matches well with the freedom of movement of the human body. It can effectively support and traction the front and rear arms of the affected limb, and accurately transmit the applied traction force to the upper limb of the joints. The rationality of the wearable upper limb rehabilitation robot design is verified, which can help patients achieve rehabilitation training and provide an effective rehabilitation equipment for patients with hemiplegia caused by stroke.

Artificial Intelligence-Based Wearable Robotic Exoskeletons for Upper Limb Rehabilitation: A Review

“…As a general rule, the higher the number of degrees of freedom, the more actuators are needed [ 63 ]. This leads to an increase in the complexity of the mechanical design, and the control systems to properly execute the different movements [ 64 ]. In different studies, more than three passive DoF were implemented, so a detailed examination is required.…”

A review: A Comprehensive Review of Soft and Rigid Wearable Rehabilitation and Assistive Devices with a Focus on the Shoulder Joint

“…Unlike the lower limbs, which are used for mobility, support and stability, the upper limbs used for hand placement in very mobile space. Also, anatomically, the upper limb of the human body is mainly divided into three main joints: shoulder, elbow and wrist [20].…”

Design and Development of Continuous Passive Motion (CPM) for Fingers and Wrist Grounded-Exoskeleton Rehabilitation System

“…Authors in [32], developed a heavy stationary end-effector robot performing in total six DOFs: dividing as (1), three DOF of the shoulder joint with different: (F/E), internal/external rotation (I/E), abduction/adduction (A/A); (2), one DOF of the elbow joint: (F/E); one DOFs: (I/E); one DOF of the wrist joint: (F/E). The proposed end-effector system with a tension mechanism based on cable-driven modular parallel joint driven by a toothed belt, the transmission mechanism used a rear-mount to transmit motion for the end joints, derived by DC Servo motors and harmonic motors.…”

“…The wrist joint links the hand and the forearm together, the wrist formed by a series of eight carpal bones and a soft tissue wrapping them, basically the wrist important small joint anatomic planar structure. The wrist joint performs one DOF for wrist flexion/extension and one DOF for wrist radial/ulnar deviation [32,36]. One DOF by the forearm joint is process supination/pronation (S/P), thanks to the elbow joint [37].…”