Optimal Design of an Upper Limb Rehabilitation Robot with Generalized Shoulder Joint

doi:10.3969/j.issn.1000-1093.2021.11.022

Abstract

Abstract: The shoulder joint is an important part of upper limb movement, and the range of shoulder joint rehabilitation training is one of the essential considerations to determine the rehabilitation effect of patients. A rehabilitation robot with a generalized shoulder joint is designed to help the patients with upper limb disability do rehabilitation training. The robot has six degrees of freedom (DOF) in the shoulder joint, which is coordinated with the shoulder girdle composite structure of human physiological system. In order to solve the problems that the existing rehabilitation robot arm shoulder joint has a small workspace and many joint motors, the included angle of shoulder joint axis of robot arm under the given workspace is optimally designed. The forward and inverse kinematic equations of three rotation pairs of rehabilitation robot glenohumeral joints are solved by using the exponential product formula and the Paden-Kahan subproblem calculation method, respectively. An angle evaluation index is proposed to optimize the included angle of rotation axis. The interference between the body and the robot's glenohumeral joint is analyzed by the software MATLAB, and the optimal installation position and orientation of robot relative to the body are determined. Finally, the forward and inverse kinematic equations of 6-DOF shoulder rehabilitation robot are derived. The experiment verifies that the optimized robot glenohumeral joint can reach more motion space under the same installation space compared with the traditional orthogonal structure. The result shows that the optimized 6-DOF shoulder rehabilitation robot structure has a smaller installation space and larger moving space.

Key words: upperlimbrehabilitationrobot, generalizedshoulderjoint, glenohumeraljoint, robotarm, kinematics

CLC Number:

TP242.3

YAN Hao, WANG Hongbo, CHEN Peng, ZHANG Leilei, LI Yungui. Optimal Design of an Upper Limb Rehabilitation Robot with Generalized Shoulder Joint[J]. Acta Armamentarii, 2021, 42(11): 2491-2502.

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