Design and Kinematic Performance Analysis of the(2-PUR/UPS)&R Hybrid Cervical Exoskeleton
Song Shengtao
Wei Zhanbao
Ren Yiming
Wu Wenjiao
Abstract：In this study,a hybrid type(2-PUR/UPS)&R cervical vertebra rehabilitation machine is proposed for the cervical traction rehabilitation training of patients with cervical spondylosis.The machine has 3R1T four degrees of freedom and meets the requirement of the range of motion of human cervical vertebra.The kinematic performance of the machine is analyzed to verify whether it can be applied in the field of human cervical vertebra rehabilitation.Firstly,the degrees of freedom of the mechanism are solved and verified by using the spiral theory and the modified Kutzbach-Grvble formula.Secondly,by solving the inverse solution of the position of the mechanism,the rod length of the mechanism is deduced,the program of solving the workspace is written,and the workspace of the mechanism is obtained by the numerical search method.Finally,the mechanism is simulated and analyzed by Adams software.The results show that the mechanism could reach the range required for cervical spine movement,including-55° to 35° for forward and backward leaning.Left-handed and right-handed is-52° to 52°;the left and right lateral flexion is-45° to 45°,which can provide traction treatment for patients with cervical spondylosis.
Keywords：Recovery machineCervical spineInverse solutionWorkspaceAdams software
Publication Date：2023-12-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：7( 75-81 )