Mechanism design and kinematics research of exoskeleton-style upper limb rehabilitation robot
WANG Zhijun
ZHOU Pengfei
WANG Yunyi
FENG Yongli
SUN Jing
Abstract：[Objective]Aiming at the problems of insufficient degrees of freedom,poor human-machine compatibility and inadequate motion range of upper limb rehabilitation robots to meet rehabilitation needs,an exoskeleton-style upper limb rehabilitation robot was designed to improve the effectiveness of shoulder joint rehabilitation training and human-machine adaptability.[Methods]Firstly,the main joint movements of the human upper limb and the composition of the shoulder joint were elaborated,the drift phenomenon of the glenohumeral joint motion center was analyzed,and the overall structural design of the robot was completed.Secondly,a mathematical model was established to derive kinematics equations,the correctness of the model was verified by simulation with Robotics Toolbox software,and the workspace of the robot was solved based on the Monte Carlo method.Finally,rehabilitation robot trajectory planning and simulation were completed in the joint space using a fifth-order polynomial interpolation function.[Results]The rehabilitation movement process of the designed robot is stable and meets the training requirements;its structural design is reasonable and the kinematics model is accurate,which can cover the motion range of daily activities of the human upper limb and provide effective rehabilitation training for patients.
Keywords：Upper limb rehabilitation robotExoskeletonKinematicsTrajectory planning
Publication Date：2026-02-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：10( 165-174 )