Kinematics Modeling and Analysis of Central-driven Robot for Upper Limb Rehabilitation after Stroke_Journal of Biomedical Engineering

Authors：

YIJinhua ,  YUHongliu , ZHANGYing , HUXin , SHIPing

Institute of Biomechanics and Rehabilitation Engineering, School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China;

Corresponding author：

YUHongliu, Email: yhl98@hotmail.com

Keywords：

central driven; upper limb rehabilitation; robot; kinematics modeling

DOI：

10.7507/1001-5515.20150212

Video：

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The present paper proposed a central-driven structure of upper limb rehabilitation robot in order to reduce the volume of the robotic arm in the structure, and also to reduce the influence of motor noise, radiation and other adverse factors on upper limb dysfunction patient. The forward and inverse kinematics equations have been obtained with using the Denavit-Hartenberg (D-H) parameter method. The motion simulation has been done to obtain the angle-time curve of each joint and the position-time curve of handle under setting rehabilitation path by using SolidWorks software. Experimental results showed that the rationality with the central-driven structure design had been verified by the fact that the handle could move under setting rehabilitation path. The effectiveness of kinematics equations had been proved, and the error was less than 3°by comparing the angle-time curves obtained from calculation with those from motion simulation.

Citation： YIJinhua, YUHongliu, ZHANGYing, HUXin, SHIPing. Kinematics Modeling and Analysis of Central-driven Robot for Upper Limb Rehabilitation after Stroke. Journal of Biomedical Engineering, 2015, 32(6): 1196-1201. doi: 10.7507/1001-5515.20150212 Copy

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1. 王丹.我国脑卒中患者底数首次摸清[EB/OL].健康报, 2013(2013-05-06)[2013-10-06]. http://www.jkb.com.cn/htmlpage/36/363009.htm?docid=363009.
2. KWAKKEL G, KOLLEN B J, VAN DER GROND J, et al. Probability of regaining dexterity in the flaccid upper limb:impact of severity of paresis and time since onset in acute stroke[J]. Stroke, 2003, 34(9):2181-2186.
3. 常俊玲, 孙波.运动再学习对偏瘫患者上肢功能恢复的影响[J].现代康复, 2000, 4(5):684-685.
4. 黄晓琳, 陆敏, 彭军.不同康复治疗计划对脑卒中患者功能恢复的影响[J].中华物理医学与康复杂志, 2003, 25(6):351-353.
5. 刘惠如, 张斯伟.脑卒中患者偏瘫的康复治疗[J].中华物理医学与康复杂志, 2004, 24(6):44-45.
6. LUM P S, BURGAR C G, SHOR P C, et al. Robot-assisted movement training compared with conventional therapy techniques for the rehabilitation of upper-limb motor function after stroke[J]. Arch Phys Med Rehabil, 2002, 83(7):952-959.
7. NEF T, MIHELJ M, RIENER R. ARM in:a robot for patient-cooperative arm therapy[J]. Med Biol Eng Comput, 2007, 45(9):887-900.
8. MACCLELLAN L D, WHITAN J. Robotic upper-limb neurorehabilitation in chronic stroke patients[J]. J Rehabil Res Dev, 2005, 42(6):717-722.
9. 周键, 黄祖洪.电机噪声污染及其防治措施[J].电气技术, 2008, (8):13-15.
10. 宋亚秋, 宿亚楼.电机噪声产生的原因及减小噪音的设计方法[J].电工技术, 2009, (8):64-65.
11. 王建民, 让余奇.电机噪声分析及抑制措施[J].船电技术, 2010, 30(8):8-10, 34.
12. 杨立辉, 罗庆生, 王秋丽, 等.新型仿生六足机器人步行足运动学分析与研究[J].机械设计与制造, 2006, 11(9):119-121.
13. 李立顺, 李红勋, 朱先民, 等.基于Solidworks Motion的随车吊主要工作装置仿真[J].科学技术与工程, 2011, 11(5):1070-1072.
14. 刘国彪, 石兵, 王兵臣, 等.基于Solidworks的圆柱形搅拌器关键零部件设计分析[J].核工程研究与设计, 2009, (2):106-110.

Journal of Biomedical Engineering

Kinematics Modeling and Analysis of Central-driven Robot for Upper Limb Rehabilitation after Stroke

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