Structure design and kinematics analysis of wearable upper limb rehabilitation robots
WANG Xin
GAO Jinpeng
JIA Chengfu
Abstract：[Objective]A portable wearable upper limb rehabilitation robot was designed to address the problems of large volume,complex structure,and inconvenient movement of existing upper limb rehabilitation robots.[Methods]Adopting a new type of internal and external rotation structure reduced the required output torque of the electric motor.Based on the analysis of the anatomical structure and movement mechanism of the upper limb,a three-dimensional structural model of the wearable rehabilitation robot was established using SolidWorks software,and a static analysis of the rehabilitation robot was conducted using Ansys Workbench software.A kinematic model of the rehabilitation robot was established using an improved D-H method,and forward and inverse kinematics analyses were conducted.At the same time,Matlab software was used to conduct simulation on forward and inverse kinematics and robot reachable space.Finally,the Adams software was used to perform kinematic simulation on the robot.[Results]The results show that the maximum stress during the movement of the rehabilitation robot is less than the yield strength of the material,and the angle and angular velocity change curves during the joint movement are continuous and smooth,verifying the rationality of the structural design of the rehabilitation robot.
Keywords：Wearable robotUpper limb rehabilitationKinematics modelKinematics simulation
Publication Date：2025-10-31
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：8( 69-76 )