Upper Limb Motion Assist System with Parallel Mechanism.

摘要

Parallel mechanisms have advantages such as good force/torque output, high speed, and high accuracy. They can also manipulate the objects with soft links such as strings. Their limited workspace gives safety when the mechanism is used closely to human. Parallel mechanisms are suitable for robotic system for rehabilitation or assistance of the elderly people or the disabled people. Therefore, an upper limb motion assist system is proposed and being developed. This system aims at assisting people with upper limb disability to move the arm by his/her own will.Design strategy of the system is discussed at the first stage of the development, because it effects the motion range. In this paper, firstly a concept of the upper limb motion assist system is illustrated. Then, statics of the forearm motion with the proposed system is considered. An experiment is also carried out in order to determine a parameter included in statics. Finally, statics of the forearm and upper arm is considered and the relation between the design parameters of the system and the motion range of the arm is estimated using simulations.