Upper Limb Rehabilitation Training Mechanical Arm for Stroke Patients

This paper proposes a mechanical arm that has three degrees of freedom to help patients train and exercise their joints under different modes and intensities to promote the rehabilitation process for stroke patients. Compared with commercial products, our prototype is low-cost, user-friendly and self-operative. We installed three angular velocity sensors to determine the coordinates of the joints, which helps to adjust joints back to their original places via the motors. The motors are connected to the Arduino Mega board so that they can be controlled to move according to the buttons pressed by the patients on the Raspberry Pi interface. The interface is created using python and will transmit messages to the Arduino board through its Serial Port. Testing shows that all proposed functions are realized.