The analysis and control of exoskeleton upper-limb rehabilitation robot

被引：1

作者：

Wang, Lan ^{[1
]}

Yin, Zhengqian ^{[1
]}

Sun, Yuanhang ^{[1
]}

机构：

[1] College of Mechanical and Electrical Engineering, Harbin Engineering University

来源：

Key Engineering Materials | 2014年 / 572卷 / 01期

关键词：

Dynamics; Exoskeleton; The upper-limb rehabilitation robot;

D O I：

10.4028/www.scientific.net/KEM.572.619

中图分类号：

学科分类号：

摘要：

Based on the analysis of the methods for upper limb rehabilitation training, an anthropomorphic upper-limb exoskeleton was developed. Anatomical and physiological characteristics and upper limb joint ranges of motion are also considered. The rehabilitation robot is achieved by 4 single-axis revolutejoints which are shoulder abduction-adduction (abd-add), shoulder flexion-extension (fix-ext), elbow fix-ext and wrist fix-ext. Kinematics and dynamics analysis of the rehabilitation robot are made. The passive rehabilitation mode and active rehabilitation mode are researched, and the result of experenment is shown that the robot can finish the rehabilitation task well. © 2014 Trans Tech Publications, Switzerland.

引用

页码：619 / 623

页数：4

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