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 100
- Downloads 0
Research progress of fabric electrodes in wearable electronic clothing
Aiming at the application requirements of fabric electrodes in wearable electronic clothing, the current materials and structure types of fabric electrodes are introduced respectively, the influence of fabric electrodes...
Study on research mode of smart safety outfits system for children
According to the special characteristics of children’s body and mind and the concept of human–computer interaction, the research and development model of children’s intelligent safety clothing is explored and a A practic...
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...
Wireless vibrotactile wireless optical device for motor activity assistance motor activities
This article describes the research that leads to the development of a wireless optical device capable of generating vibrotactile mechanical stimuli at different points on the skin and at desired frequencies by means of...
Implantation of permanent pacemakers in Cuenca–Ecuador, from 2017 to 2018
Introduction: In recent years, the placement frequency of permanent pacemakers has increased due to some risk factors, some of which are carried out through cables. Objective: To determine the prevalence and related fac...