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Design and analysis of a compatible exoskeleton rehabilitation robot system based on upper limb movement mechanism

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Abstract

Rehabilitation robots are used to promote structural and functional recovery of the nervous system with repetitive, task-oriented training and have been gradually applied to clinical rehabilitation training. This paper proposes an upper limb exoskeleton rehabilitation robot system that could realize shoulder-elbow-wrist joint rehabilitation training. Firstly, a motion equivalent model was established based on the upper limb movement mechanism, the robot mechanism configuration was designed, and the optimization algorithm and spatial mechanism theory were used to optimize and analyze the structural parameters and human–machine compatibility of the robot, which will guide the design of the robot’s model. Then, the robot kinematics were solved, and its maximum motion range, dexterity distribution, and daily motion trajectory were simulated. Finally, a system prototype was built to test the maximum range of robot-assisted human upper limb training by laser tracker, while the pressure of human–machine interaction during training was captured and analyzed by flexible sensors. The results show that the proposed rehabilitation robot could nearly completely cover the range of motion of upper limb joints and meet the needs of trajectory training, and the linear velocity dexterity and angular velocity dexterity in the motion space are maximum 0.55 and 0.89, and the human–machine interaction pressures during the training process are all less than 10 kPa. Besides, this paper also conducted a system evaluation based on the fuzzy comprehensive evaluation model, and the evaluation result was 0.39, with an excellent evaluation grade, it indirectly indicates that the robot’s overall performance was good.

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Funding

This work was supported by the National key research and development program (2019YFB1312500), the National Natural Science Foundation of China (U1913216), the Key research and development program of Hebei (20371801D), Shanghai Clinical Research Center for Aging and Medicine (19MC1910500), and the China Scholarship Council (CSC) (202308130191).

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Authors and Affiliations

  1. Hebei Province Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, China

    Yuansheng Ning, Hongbo Wang, Qi Wang & Jianye Niu

  2. Academy for Engineering & Technology, Fudan University, Shanghai, China

    Hongbo Wang

  3. Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education, Yanshan University, Qinhuangdao, China

    Hongbo Wang, Qi Wang & Jianye Niu

  4. Shanghai Clinical Research Center for Aging and Medicine, Shanghai, 200040, China

    Hongbo Wang

  5. Qinghuangdao Haigang Hospital, Qinghuangdao, China

    Ying Liu

  6. College of Vehicles and Energy, Yanshan University, Qinhuangdao, Hebei, China

    Yu Rong

Authors
  1. Yuansheng Ning
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  2. Hongbo Wang
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  3. Ying Liu
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  4. Qi Wang
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  5. Yu Rong
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  6. Jianye Niu
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Contributions

Yuansheng Ning, Qi Wang, investigation, design, optimization, verification, and writing; Rong Yu and Jianye Niu, Analysis guidance, supervision; Hongbo Wang and Ying Liu, platform construction, project administration and gave technological support during the trials. All authors read and approved the final manuscript.

Corresponding author

Correspondence to Jianye Niu.

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The authors declare no competing interests.

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Highlights

• This paper proposes an equivalent motion model for the human upper limb based on the motion mechanism of the human upper limb joints (mainly the shoulder joint).

• An 8 DOF upper limb exoskeleton rehabilitation robot designed based on the proposed upper limb equivalent motion model.

• It was proposed that the structural parameters of the robot system be optimized using the industrial robot collision detection algorithm and the improved sparrow optimization algorithm, and the human–machine closed-chain system be analyzed using Advanced Mechanics Theory to guide the design of the human–machine constraint module in the robot system.

• It is proposed that using flexible sensors to test the human–robot interaction pressure of a rehabilitation robot system.

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Ning, Y., Wang, H., Liu, Y. et al. Design and analysis of a compatible exoskeleton rehabilitation robot system based on upper limb movement mechanism. Med Biol Eng Comput 62, 883–899 (2024). https://doi.org/10.1007/s11517-023-02974-0

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  • DOI: https://doi.org/10.1007/s11517-023-02974-0

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