Design of a wearable upper limb rehabilitation robot and its motion simulation and dynamics analysis
Journal Title: Wearable Technology - Year 2022, Vol 3, Issue 1
Abstract
Objective: A new wearable upper limb rehabilitation robot is designed to address the disadvantages of the current desktop upper limb rehabilitation robot, which is bulky and inconvenient to move, and the rationality of the design is verified through the analysis of its motion characteristics and the calculation of joint moments. Methods: Firstly, according to the principle of modular design, the overall structure was designed. Secondly, the SOILDWORKS is used for three-dimensional modeling, and the SOILDWORKS Motion is used to simulate the elbow flexion/extension movement, shoulder flexion/extension movement and shoulder-elbow joint linkage movement of the robot. Finally, the dynamic equation of the system is established based on Lagrange method, and the change curve of the joint torque of the manipulator is calculated by MATLAB software. Results: The simulation results confirmed that the motion simulation curves of shoulder joint, elbow joint and wrist joint were smooth. The dynamic analysis confirmed that the joint torque variation curve was smooth and the maximum joint torque was less than the rated torque of the motor after deceleration. Conclusion: The design of wearable upper limb rehabilitation robot is reasonable, which lays a theoretical foundation for the subsequent research on upper limb rehabilitation robot.
Authors and Affiliations
Lulu Wang, Xin Hu, Wujing Cao, Fei Zhang, Hongliu Yu
Keywords
Related Articles
- EP ID EP710012
- DOI 10.54517/wt.v1i2.1634
- Views 110
- Downloads 0
Functional requirements analysis and design of wearable multi- channel sensing system
In recent years, a large number of wearable devices have emerged; and users have higher and higher functional requirements for wearable devices. However, the realization of complex functions of wearable devices often de...
Research and analysis of user needs for smart clothing for the elderly
Following the principle of “people-oriented”, we explore the user needs of smart clothing for the elderly and provide reference for the development of such clothing. The target consumers of smart clothing for the elderly...
Application prospects for wearable body surface microfluidic system in sports
The wearable body surface microfluidic system has great application potential in the field of sports. The use of the wearable body surface microfluidic system to monitor the physiological state of athletes can solve prob...
Research progress of flexible wearable stress sensor
Flexible wearable pressure sensors are widely used in health diagnosis, sports monitoring, rehabilitation medicine, entertainment, and other fields due to some factors such as the stretch ability, bendability, light weig...
2019 American College of Cardiology best conference
As every year, the 68th American College of Cardiology (ACC) conference was held in New Orleans, Louisiana, from March 16 to 18. With carnival and jazz as the background, he convened the world cardiology again to promot...