Advertisement

Study on the Cable-Controlled Household Upper Limb Rehabilitation Robot

  • Xiaohai HuangEmail author
  • Hongliu Yu
  • Yinxin Xu
  • Xinwei Li
  • Weisheng Zhang
  • Wujing Cao
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 527)

Abstract

Purpose The paper is to design a cable-controlled household upper limb rehabilitation robot for the demands of home recovery to overcome the drawbacks of large size, transmission chains, and the driving noise. Methods The transmission system of cable and synchronous belt is used to carry out power transmission, and the motor drive equipment is uniformly placed on the base of the patients far away from the patients, and the overall structure design and 3d model are established. The overall scheme of the control system is designed, and the kinematics simulation analysis is carried out to ensure the rationality of the mechanical structure and the designed trajectory. The result and conclusion Finally, the experimental prototype is made, and the mechanical structure and design trajectory are verified.

Keywords

Upper limb rehabilitation robot Household Cable controlled Kinematics simulation Trajectory planning Prototype verification 

Notes

Acknowledgements

The work reported in this paper is supported by Support project of Shanghai Municipal Science and Technology Commission, number: 16441905602, Shanghai Science and Technology Commission Platform Construction, number: 15DZ2251700 and Shanghai Local Capacity Construction Project, number: 16060502500.

Compliance with Ethical Standards

The study was approved by the Logistics Department for Civilian Ethics Committee of University of Shanghai for Science and Technology. All subjects who participated in the experiment were provided with and signed an informed consent form. All relevant ethical safeguards have been met with regard to subject protection.

References

  1. 1.
    Liu C et al (2005) Analysis of common causes of stroke. Chin J Nerv Mental Dis 31(1):4–7Google Scholar
  2. 2.
    Nef T, Riener R (2005) ARMin—design of a novel arm rehabilitation robot. In: International conference on rehabilitation robotics. IEEE, pp 57–60Google Scholar
  3. 3.
    Nef T, Mihelj M, Colombo G, Riener R (2005) Armin—robot for rehabilitation of the upper extremities. In: Proceedings 2006 IEEE International Conference on ICRA 2006, pp 3152–3157Google Scholar
  4. 4.
    Nef T, Mihelj M, Riener R (2007) Armin: a robot for patient-cooperative arm therapy. Med Biol Eng Comput 45(9):887–900CrossRefGoogle Scholar
  5. 5.
    Perry JC, Rosen J, Burns S (2007) Upper-limb powered exoskeleton design. IEEE/ASME Trans Mechatron 12(4):408–417CrossRefGoogle Scholar
  6. 6.
    Rosen J, Perry JC, Manning N, Burns S (2005) The human arm kinematics and dynamics during daily activities—toward a 7 DOF upper limb powered exoskeleton. In: International conference on advanced robotics, 2005. ICAR ’05. Proceedings, vol 2005. IEEE, pp 532–539Google Scholar
  7. 7.
    Zhang X (2013) Evaluation of the clinical effect of the multiple joint motion system of the upper limb for the patients with fracture. The Chinese Medical Doctor Association Rehabilitation Physicians Branch Orthopaedic Rehabilitation BBSGoogle Scholar
  8. 8.
    Wang J (2015) Research and development of digital upper limb motor function rehabilitation and treatment equipment. China Achiev Sci Technol 8:22–24Google Scholar

Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Xiaohai Huang
    • 1
    Email author
  • Hongliu Yu
    • 1
  • Yinxin Xu
    • 1
  • Xinwei Li
    • 1
  • Weisheng Zhang
    • 1
  • Wujing Cao
    • 1
  1. 1.Institute of Rehabilitation Engineering and TechnologyUniversity of Shanghai for Science and TechnologyShanghaiChina

Personalised recommendations