Kinematical Analysis and Simulation of Upper Limb Rehabilitation Robot
Kinematical Analysis and Simulation of Upper Limb Rehabilitation Robot
- New search for: Cheng, Xiang Li
- New search for: Zhou, Yi Qi
- New search for: Zuo, Cui Peng
- New search for: Fan, Xiao Hua
To assist stroke patients with rehabilitation training, an upper limb rehabilitation robot with an exoskeleton structure and three degrees of freedom (DOF) was developed in this paper. Under the guidance of the theory of rehabilitation medicine, the mechanical design of the robot was completed. Then, the kinematics equations were established by means of homogeneous transformation, including the forward kinematics and the inverse kinematics. The kinematical analysis was carried out and the algebraic solution of inverse kinematics was derived, which provided a theoretical basis for realizing the intelligent control. To validate the performance, the kinematical simulation was conducted, and the simulation results showed that the design of the exoskeleton robot was feasible.
Document information
Kinematical Analysis and Simulation of Upper Limb Rehabilitation Robot
Key Engineering Materials ; 474-476 ; 1315-1320
2011-04-19
6 pages
Article (Journal)
Electronic Resource
English
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