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Optimizing method of mechanism angle of upper limb rehabilitation robot at glenohumeral joint

At present, there are seventy million stroke patients in China and annual death toll of stroke is 1 million 650 thousand people. The survivors about 75% become disabled persons and lose the ability to move. To address this issue, a kind of rehabilitation exoskeleton robot called YANARM is proposed which for training of shoulder complex. This paper, a kind of method for optimizing the angle parameters of series dynamic axes under given workspace conditions is presented. The forward and inverse kinematics solutions of glenohumeral mechanism are solved based on the exponential product formula (POE) and the Paden-Kahan sub-problem. The range of joint rotation angle can be inversely solved according to the end of the arm position at the borderline of the workspace. A curve between the angle and the CP which equal mean variance of joint rotation range plus sum of all joint rotation ranges is solved. The mechanism angle of glenohumeral joint is optimized by this method.