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Design and Analysis of 6-DoFs Upper Limb Assistant Rehabilitation Robot

This paper presents an assisted upper limb rehabilitation robot (ULRR) for patients who have experienced stroke who are in the middle and late stages of rehabilitation and have certain muscle strength. The ULRR can complete adduction and abduction motion of the shoulder joint (SJ) in the frontal plane in one step, which can save time and improve the efficiency of rehabilitation training. Based on the principles of ergonomics and rehabilitation medicine, the freedom degree of the upper limb and the motion range of each joint are determined, and the structure of the shoulder, the elbow, and the wrist joint of ULRR are designed. The kinematics model of the robot is established, and the kinematics equations are derived. Meanwhile, the simulation analysis and the workspace analysis of the robot are carried out, and the different movement forms of SJ adduction and abduction are compared and analyzed. Then, the trajectory of the robot is planned to complete the act of drinking water. Finally, an experimental platform is built to complete the ULRR to help participants complete the experiments of drinking water and active training. The experiments verify that the robot is suitable for rehabilitation tasks.