Design of a Central-Driven Upper Limb Rehabilitation Robot in Respect of Human Safety

  • Bingshan HuEmail author
  • Fei Zhang
  • Hongliu Yu
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 527)


The rehabilitation training efficiency and effect of hemiplegic patients can be improved by using an upper limb rehabilitation robot. Because the upper limb rehabilitation robot contacts with patients directly, it is necessary to consider the safety design of its mechanism and control. In order to improve the safety of mechanism design, this paper has designed a central-driven upper limb rehabilitation robot, which concentrates the driving and sensing elements on the robot’s base, so the volume, weight, and operation noise of the robot mechanism, which contacts with the patient directly, are reduced. In order to improve the safety of the control, the rehabilitation-training trajectory is planned to make the motion smoother, and the angle range and speed of the joint are limited. Finally, the robot prototype has developed, and the correctness of the safety design is verified by experiments.


Central-driven Upper limb Rehabilitation robot Human safety 


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  1. 1.Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and TechnologyShanghaiChina

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