TY - GEN
T1 - Design and evaluation of a 3-degree-of-freedom upper limb rehabilitation exoskeleton robot
AU - Gao, Baofeng
AU - Ma, Hongdao
AU - Guo, Shuxiang
AU - Xu, Hao
AU - Yang, Shu
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/8/23
Y1 - 2017/8/23
N2 - As an important branch of medical robot, rehabilitaction training robot for hemiplegic upper limbs is a hot research topic. Based on motor relearning program, it covers many technology fields, such as rehabilitation medicine, human anatomy, mechanics, computer science, and robotics, etc. With the developing of auxiliary robot, there are still some disadvantages in the existent devices, such as heavy weight, few degrees of freedom, non-portable, low accuracy. These defects make it difficult for the rehabilitation robot to be applied to the actual rehabilitation practice. In this paper, we designed a rehabilitation robot with three DOFs. Compared to the previous device, this design can overcome some shortcomings which makes it flexible, portable, light weight, high accuracy and easy to wear. In this paper, the general structure of the flexible robot manipulator is introduced. The experiment is designed to test and analyse the error in its movement. The application of flexible transmission can greatly reduce the weight of the patient's arm, but may lead to errors in accuracy. Therefore, it is necessary to design experiments to test and analyse errors. The results show that the device can be easily and smartly dressed and has high accuracy.
AB - As an important branch of medical robot, rehabilitaction training robot for hemiplegic upper limbs is a hot research topic. Based on motor relearning program, it covers many technology fields, such as rehabilitation medicine, human anatomy, mechanics, computer science, and robotics, etc. With the developing of auxiliary robot, there are still some disadvantages in the existent devices, such as heavy weight, few degrees of freedom, non-portable, low accuracy. These defects make it difficult for the rehabilitation robot to be applied to the actual rehabilitation practice. In this paper, we designed a rehabilitation robot with three DOFs. Compared to the previous device, this design can overcome some shortcomings which makes it flexible, portable, light weight, high accuracy and easy to wear. In this paper, the general structure of the flexible robot manipulator is introduced. The experiment is designed to test and analyse the error in its movement. The application of flexible transmission can greatly reduce the weight of the patient's arm, but may lead to errors in accuracy. Therefore, it is necessary to design experiments to test and analyse errors. The results show that the device can be easily and smartly dressed and has high accuracy.
KW - Flexible transmission
KW - Rehabilitation training
KW - Upper limb exoskeleton robot
UR - http://www.scopus.com/inward/record.url?scp=85030327973&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2017.8015942
DO - 10.1109/ICMA.2017.8015942
M3 - Conference contribution
AN - SCOPUS:85030327973
T3 - 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
SP - 938
EP - 942
BT - 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
Y2 - 6 August 2017 through 9 August 2017
ER -
