Title :
An upper limb rehabilitation robot based on 3-RRC parallel mechanism
Author :
Wang, Hongbo ; Du, Ning ; Hou, Huina ; Zhao, Jiangshun ; Yu, Hongnian
Author_Institution :
Sch. of Mech. Eng., Yanshan Univ., Qinhuangdao, China
Abstract :
This paper presents an upper limb rehabilitation robot based on 3-RRC parallel mechanism. The device has three degrees of freedom and can help the disabled patient to do rehabilitation training by moving his/her arm in three-dimensional space. The paper set up the control platform, built the mechanism model and analyzed the kinematics of the selected 3-RRC parallel mechanism. Then, it was verified that the workspace of the parallel robot can satisfy the requirement of the rehabilitation training. At last, the trajectory planning was simulated when passive training. The experiment showed the rehabilitation robot system proposed is feasible and useful.
Keywords :
medical robotics; path planning; patient rehabilitation; robot kinematics; 3-RRC parallel mechanism kinematics; degrees of freedom; passive training; rehabilitation training; three-dimensional space; trajectory planning; upper limb rehabilitation robot; Educational institutions; Robots; Silicon; Training; Velocity control;
Conference_Titel :
Advanced Mechatronic Systems (ICAMechS), 2012 International Conference on
Conference_Location :
Tokyo
Print_ISBN :
978-1-4673-1962-1
